NDLI: A biologically inspired robot for lunar In-Situ Resource Utilization

Content Provider	IEEE Xplore Digital Library
Author	Dunker, P.A. Lewinger, W.A. Hunt, A.J. Quinn, R.D.
Copyright Year	2009
Description	Author affiliation: Mechanical and Aerospace Engineering Department at Case Western Reserve University, Cleveland, OH 44017 USA (Quinn, R.D.) \|\| Electrical Engineering and Computer Science Department at Case Western Reserve University, Cleveland, OH 44017 USA (Lewinger, W.A.) \|\| Case Western Res. Univ., USA (Dunker, P.A.; Hunt, A.J.)
Abstract	Successful long-term settlements on the Moon will need a supply of resources such as oxygen and water, yet the process of regularly transporting these resources from Earth would be prohibitively costly and dangerous. One alternative would be an approach using heterogeneous, autonomous robotic teams, which could collect and extract these resources from the surrounding environment (In-Situ Resource Utilization). The $Whegs^{™}$ robotic platform, with its demonstrated capability to negotiate obstacles and traverse irregular terrain, is a good candidate for a lunar rover concept. In this research, Lunar $Whegs^{™}$ is constructed as a proof-of-concept rover that would be able to navigate the surface of the moon, collect a quantity of regolith, and transport it back to a central processing station. The robot incorporates an actuated scoop, specialized feet for locomotion on loose substrates, Light Detection and Ranging (LIDAR) obstacle sensing and avoidance, and sealing and durability features for operation in an abrasive environment.
Starting Page	5039
Ending Page	5044
File Size	1081977
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354202
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Moon Resource management Robotic assembly Intelligent robots Earth Navigation Abrasives Costs Vehicles USA Councils
Content Type	Text
Resource Type	Article

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