NDLI: Planetary robotics exploration activities at DLR

Content Provider	Springer Nature Link
Author	Leite, Alexandre Carvalho Schäfer, Bernd
Copyright Year	2014
Abstract	Intelligent mobility, agile manipulability, and increased autonomy are key technologies to guarantee for long-range and efficient surface exploration on Earth’s Moon and on planets. In order to increase the scientific output of a rover mission it is very necessary to explore much larger surface areas reliably in much less time. This is the main driver for a robotics institute to combine mechatronics functionalities to develop an intelligent mobile vehicle with an appropriate number of wheels, and having specific kinematics and locomotion suspension depending on the operational terrain of the rover to operate. Moreover, a shift from a traditional bogie and wheel design to more agile wheel-legged combined systems seems to be beneficial to reach the goals. DLR’s Robotics and Mechatronics Center has a long tradition in developing advanced components in the field of light-weight motion actuation, intelligent and soft manipulation and skilled hands and tools, perception and cognition, and in increasing the autonomy of any kind of mechatronic systems. The whole design is supported and is based upon detailed modelling, optimization, and simulation tasks. We have developed efficient software tools to simulate the rover driveability performance on various terrain characteristics such as soft sandy and hard rocky terrains as well as on slopes, where wheel and grouser geometry plays a dominant role. Moreover, first rover designs by best engineering intuitions has to be supported by means of optimization tools from the very beginning. By this, we optimize structural, geometric, and inertia parameters and we compare various kinematics suspension concepts, while making use of realistic cost functions like mass and consumed energy minimization, static stability, and more. For self-localization and safe navigation through unknown terrain we make use of fast 3D stereo algorithms that were successfully used in terrestrial mobile systems. The advanced rover design approach is applicable for lunar as well as Martian surface exploration purposes.
Starting Page	571
Ending Page	586
Page Count	16
File Format	PDF
ISSN	01018205
Journal	Computational and Applied Mathematics
Volume Number	34
Issue Number	2
e-ISSN	18070302
Language	English
Publisher	Springer Basel
Publisher Date	2014-03-22
Publisher Place	Basel
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Motion of a rigid body in contact with a solid surface Computational Mathematics and Numerical Analysis Manipulability Applications Mechanisms, robots Mobility Planetary exploration Optimization Planetary rovers Legged vehicles Optimization of other properties Mathematical Applications in Computer Science Robot dynamics and control Autonomy Terramechanics Applications of Mathematics Mathematical Applications in the Physical Sciences
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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