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A Modular Robotic Concept for Human/Robot Interaction and Planetary Exploration

A Modular Robotic Concept for Human/Robot Interaction and Planetary Exploration. Issa A.D. Nesnas, Ph.D. Daniel Helmick Ayanna Howard Mobility Concept Development Section Jet Propulsion Laboratory Proposal for a modular space systems March 23, 2004. Overall Axel Concept.

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A Modular Robotic Concept for Human/Robot Interaction and Planetary Exploration

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  1. A Modular Robotic Concept for Human/Robot Interaction and Planetary Exploration Issa A.D. Nesnas, Ph.D. Daniel Helmick Ayanna Howard Mobility Concept Development Section Jet Propulsion Laboratory Proposal for a modular space systems March 23, 2004

  2. Overall Axel Concept Key Concept - separate payload/science modules from transporters Axel2 Axel4 Axel6 I.A.N.

  3. Axel 2 – Planetary Explorer Actuated Castor Link Brushes Module interface Wheels (various types – foldable) Stereo Cameras and/or Sensors Solar cells Motion Direction (fwd) I.A.N.

  4. Compact Packaging Inflatable Wheels Foldable Wheels I.A.N.

  5. Axel 4 – Science/Payload Module Yaw Symmetric science module (operates upside down/right-side up) Yaw OR Electrical Connections Roll Pitch Passive Joint (constrained roll & yaw) One DOF arm End effector scoops OR Science Instrument Science/Payload Module covered w/ solar cells Example Payload Module I.A.N.

  6. In-field Reconfiguration Auto-foldable Leg I.A.N.

  7. Reconfigurable Axel Robots • Simple - use 3 motors for Axel2 • Modular – separate mobility from payload • Redundant – replace failed modules • Scalable – use large foldable wheels • Cleanable - use brushes to wipe solar cells • Compact - package in a small volume • Robust - handle sudden drops • Flexible - vary payload combinations • Transporter - carry loads to assist humans I.A.N.

  8. Proposal for FY04/FY05 I.A.N.

  9. Key Challenges • Demonstrate Axel as an effective mobility concept in various terrains • Demonstrate reliable in-field docking - (6 DOF) • Demonstrate failure recovery • Demonstrate feasibility given power constraints • Control of Axel4 and higher can be complex I.A.N.

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