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Rovers Mechanics. Joseph T. Wunderlich, Ph.D. “Lunar Roving Vehicle” (LRV). Mechanical Design. Image from: http://www.batsinthebelfry.com/rover/index.php. Mechanical Design. Lunar Rover. 1960’s and 1970’s.

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rovers mechanics

Rovers Mechanics

Joseph T. Wunderlich, Ph.D.

slide2

“Lunar Roving Vehicle”

(LRV)

Mechanical Design

Image from: http://www.batsinthebelfry.com/rover/index.php

lunar rover

Mechanical Design

Lunar Rover

1960’s and 1970’s

Moon has only 1/6 of Earth’s gravity, and therefore different stability, maneuverability, and controllability concerns

Bendix Corporation

Images from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

slide4

“Lunar Roving Vehicle” (LRV)

Mechanical Design

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Only

0.25 HP !

since

Moon’s gravity is only 1/6 of Earth’s

slide5

“Lunar Roving Vehicle” (LRV)

Mechanical Design

Astronauts needed to become accustomed to driving and working in 1/6 of Earth’s gravity

Airplane diving from high altitudes simulated reduced gravity

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

slide6

“Lunar Roving Vehicle” (LRV)

Mechanical Design

Each motor independently driven

This yields a very tight turning radius

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

slide7

“Lunar Roving Vehicle” (LRV)

Mechanical Design

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Bulky pressurized space suites need to be considered in vehicle design

slide8

“Lunar Roving Vehicle” (LRV)

Mechanical Design

1971

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

1/6 Earth’s gravity significantly effects

maneuverability and controllability

lunar rover1

Mechanical Design

Lunar Rover

Extensive wheel, motors, and suspension TESTING

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

lunar rover2

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover3

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover4

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover5

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover6

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover7

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover8

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover9

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover10

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover11

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover12

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover13

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover14

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover15

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover16

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover17

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover18

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover19

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover20

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover21

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover22

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover23

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

lunar rover24

Mechanical Design

Lunar Rover

Extensive TESTING

SOURCE: Boeing Company and NASA (1971) LRV operations handbook. appendix A performance data. Document LS006-002-2H.

wheel configurations for rolling vehicles
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

wheel configurations for rolling vehicles1
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

wheel configurations for rolling vehicles2
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

wheel configurations for rolling vehicles3
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

slide37
SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.
wheel configurations for rolling vehicles4
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

wheel configurations for rolling vehicles5
Wheel Configurations for Rolling Vehicles

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

slide40

“Lunar Roving Vehicle” (LRV)

Mechanical Design

1971

Is a wheeled vehicle the best choice for all environments?

Maybe take a look at some Biologically inspired forms of locomotion.

slide42

Basic Human Structural Pieces:Limited-motion ball joints (shoulder, wrist, etc.)Limited-motion semi-hinged joints (elbow, knee, etc.) Kinematic chain (spine)Marrow-filled Calcium Bones7-Degree Of Freedom redudandant-manipulator arms= f (dexterity / tool-manipulation)

slide43
Alternative Biological Structural Pieces?No bonesHollow bonesHoneycombed bonesDislocatable joints
slide44

Alternative Biological Architectures:QuadrupedTentaclesTailTalonsExoskeletonWingsHyperredundant manipulators = f (Different Gait)= f (protection/survival)= f (hunting )maybe= f (Aerodynamics, Fluid Mechanics)

models
Models

Image from: http://www.3dkingdoms.com/ik.htm

Image from: http://www.3dkingdoms.com/ik.htm VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumber=%25&motion=%25

man made structural pieces wheels unlimited rotation revolute joints prismatic links cables
Man-made Structural Pieces:- Wheels- Unlimited rotation revolute joints - Prismatic links- Cables

Image from: http://honda-p3.com/3/3c/honda-introduced-the-robot-asimo-2.html

VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumberhttp://www.youtube.com/watch?v=Q3C5sc8b3xM

slide47

Man-Made Architectures:Vehicles (wheels, treads)Rigid wings with flapsThruster systemsServo linkages= f (protection / survival)= f (dexterity / tool-manipulation)= f (search objectives)maybe= f (Aerodynamics, Fluid Mechanics)

Image from: http://honda-p3.com/3/3c/honda-introduced-the-robot-asimo-2.html

VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumberhttp://www.youtube.com/watch?v=Q3C5sc8b3xM

man made actuators motors pistons cables electromehanical pneumatic hydraulic
Man-made ActuatorsMotorsPistonsCablesElectromehanicalPneumaticHydraulic

Image from: http://honda-p3.com/3/3c/honda-introduced-the-robot-asimo-2.html

VIDEO: http://mocap.cs.cmu.edu/search.php?subjectnumberhttp://www.youtube.com/watch?v=Q3C5sc8b3xM

human gait compared to rolling
Human Gait compared to Rolling

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

human gait compared to rolling1
Human Gait compared to Rolling

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

more mobility options
More Mobility Options

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html

more mobility options1
More Mobility Options

Boston Dynamics

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html

more mobility options2
More Mobility Options

Boston Dynamics

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html

more mobility options3
More Mobility Options

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html

more mobility options4
More Mobility Options

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html

more mobility options5
More Mobility Options

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html

more mobility options6
More Mobility Options

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html

more mobility options7
More Mobility Options

VIDEO: http://www.youtube.com/watch?v=W1czBcnX1Ww

Boston Dynamics

“Big Dog”

Quadrupeds

Image from: http://www.bostondynamics.com/robot_bigdog.html

more mobility options8
More Mobility Options

Boston Dynamics

Quadrupeds

“Big Dog\'s on-board computer controls locomotion, servos the legs and handles a variety of sensors. BigDog’s control system keeps it balanced, navigates, and regulates its energetics as conditions vary. Sensors for locomotion include joint position, joint force, ground contact, ground load, a gyroscope, LIDAR and a stereo vision system. Other sensors focus on the internal state of BigDog, monitoring the hydraulic pressure, oil temperature, engine functions, battery charge and others.”

SOURCE: http://www.bostondynamics.com/robot_bigdog.html

more mobility options9
More Mobility Options

John Deere Co.

> 4 legs

VIDEO: http://www.youtube.com/watch?v=0gk-yQ1H3M8

Justin Vincent

(J. Wunderlich student)

Image from: http://www.ito-germany.de/video/harvester/Clambunk

mobility options
Mobility Options

SOURCE: R. Siegwart and I. Nourbakhsh, Autonomous mobile robots, Massachusetts Institute of Technology, 2004.

mars rovers

Mechanical Design

Mars Rovers

NASA/JPL “Rocky 3”

1990’s

Rocker

bogie

suspension system allow vehicles to climb over rocks and through holes

Image from: www.robotfrontier.com/gallery.html

mars rovers1

Mechanical Design

Mars Rovers

1990’s

“Rocky 3”

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Rocker

bogie

mars rovers2

Mechanical Design

Mars Rovers

Mars Pathfinder “Sojourner”

1990’s

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Rocker

bogie

mars rovers3

Mechanical Design

Mars Rovers

Mars Pathfinder “Sojourner”

1996

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Rocker

bogie

mars rovers4

Mechanical Design

Mars Rovers

NASA/JPL “FIDO”

2000’s

Image from: http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=1

Rocker

bogie

mars rovers5

Mechanical Design

Mars Rovers

Mars Explorer Rovers (MER) “Spirit” & “Opportunity”

2000’s

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Rocker

bogie

mars rovers6

Mechanical Design

Mars Rovers

“Spirit” & “Opportunity”

2000’s

All six wheels have motors

Two front and two rear wheels can be steered

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Rocker

bogie

mars rovers7

Mechanical Design

Mars Rovers

“Spirit” & “Opportunity”

2000’s

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Rocker

bogie

mars rovers8

Mechanical Design

Mars Rovers

NASA/JPL “Rocky 8”

2000’s

Image from: http://www-robotics.jpl.nasa.gov/systems/system.cfm?System=3.

Six

wheels

mars rovers9

Mechanical Design

Mars Rovers

Mars Science Lab early concept

2000’s

Image from: http://ims.ivv.nasa.gov/mission_pages/mars/missions/marssciencelab-index.html

Rocker

bogie

variation

mars rovers10

Mechanical Design

Mars Rovers

Mars Science Lab concept

2000’s

Image from: http://centauri.larc.nasa.gov/msl/MSL_cfg-dwg_040608.pdf

Rocker

bogie

mars rovers11

Mechanical Design

Mars Rovers

Mars Science Lab concept

2000’s

Image from: http://nssdc.gsfc.nasa.gov/planetary/mars_future.html

Rocker

bogie

mars rovers12

Mechanical Design

Mars Rovers

Mars Science Lab concept

2000’s

Image from: http://www.pbs.org/newshour/indepth_coverage/science/marsrover/slideshow_audio/text.html

Rocker

bogie

rovers wheels

Mechanical Design

Rovers Wheels

1960’s to 2000’s

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Image from: http://ppj-web-3.jpl.nasa.gov/gallery

Wheels of Mars Rovers:

(smallest) “Sojourner”

(medium) “Spirit” & “Opportunity”

(Largest) Mars Science Lab

Lunar Rover Wheels

(not to scale with Mars Rover wheels)

mars rovers13

Mechanical Design

Mars Rovers

ESA “ExoMars” Rover concept

2000’s and 2010’s

Image from: http://science.au.dk/nyheder-og-arrangementer/nyhed/article/dansk-deltagelse-i-marsforskning/

Rocker

bogie

mars rovers14

Mechanical Design

Mars Rovers

ESA “ExoMars” Rover concept

2000’s and 2010’s

Image from: http://robots.open.ac.uk/space/ExoMars.html

Six

wheels

mars rovers15

Mechanical Design

Mars Rovers

ESA “ExoMars” Rover concept

2000’s and 2010’s

Image from: http://users.aber.ac.uk/dpb/ExoMars/ExoMars.html

Rocker

bogie

variation

mars rovers16

Mechanical Design

Mars Rovers

ESA “ExoMars” Rover concept

2000’s and 2010’s

Image from: http://www.space.dtu.dk/upload/institutter/space/forskning/rummet/solsystemet/exomars_lander.jpg

Rocker

bogie

rocker bogie
Rocker Bogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)

rocker bogie1
RockerBogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)

rocker bogie2
RockerBogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)

rocker bogie3
RockerBogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)

rocker bogie4
RockerBogie

SOURCE: R. A. Lindemann and C. J,. Vorhees (2005) Mars Exploration Rover Design, Test, and Performance, 2005, International Conference

on Systems, Man, and Cybernetics, Hawaii, October 10-12, 2005 (http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/37604/1/05-1950.pdf)

lunar and mars rovers designed for loose dry soil and rocks
Lunar and Mars Rovers designed for loose dry soil and rocks
  • 1971:

NASA “Lunar Roving Vehicle” (LRV)

  • Mars Rovers:
    • 1996: NASA Pathfinder “Sojourner”
    • 2004: NASA “Spirit” & “Opportunity”
    • 2011: NASA Mars Science Lab
    • 2016: ESA “ExoMars”

Image from: http://www.batsinthebelfry.com/rover/index.php

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Image from: http://nssdc.gsfc.nasa.gov/planetary/mars_future.html

Image from: http://www.nasa.gov/centers/jpl/news/urey-20070209.html

lunar and mars rovers designed for loose dry soil and rocks1
Lunar and Mars Rovers designed for loose dry soil and rocks

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Image from: http://ppj-web-3.jpl.nasa.gov/gallery

Wheels of Mars Rovers:

(smallest) “Sojourner”

(medium) “Spirit” & “Opportunity”

(Largest) Mars Science Lab

Lunar Rover Wheels

(not to scale with Mars Rover wheels)

lunar rovers designed for 17 earth s gravity mars rovers designed for 38 earth s gravity
Lunar Rovers designed for 17% Earth’s gravityMars Rovers designed for 38% Earth’s gravity
  • 1971:

NASA “Lunar Roving Vehicle” (LRV)

  • Mars Rovers:
    • 1996: NASA Pathfinder “Sojourner”
    • 2004: NASA “Spirit” & “Opportunity”
    • 2011: NASA Mars Science Lab
    • 2016: ESA “ExoMars”

Image from: http://www.batsinthebelfry.com/rover/index.php

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Image from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

Image from: http://nssdc.gsfc.nasa.gov/planetary/mars_future.html

Image from: http://www.nasa.gov/centers/jpl/news/urey-20070209.html

lunar rovers designed for 17 earth s gravity mars rovers designed for 38 earth s gravity1
Lunar Rovers designed for 17% Earth’s gravityMars Rovers designed for 38% Earth’s gravity
  • 1971:

NASA “Lunar Roving Vehicle” (LRV)

  • Mars Rovers:
    • 1996: NASA Pathfinder “Sojourner”
    • 2004: NASA “Spirit” & “Opportunity”
    • 2011: NASA Mars Science Lab
    • 2016: ESA “ExoMars”

Image from: marsprogram.jpl.nasa.gov/.../2001-2004.html

Image from: http://nssdc.gsfc.nasa.gov/planetary/mars_future.html

Image from: http://www.nasa.gov/centers/jpl/news/urey-20070209.html

2 Images from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

revisiting moon may involve digging deeper using more powerful vehicles
Revisiting moon may involve digging deeper using more powerful vehicles

Images from: Young, A.H. Lunar and planetary rovers: the wheels of Apollo and the quest for mars, Springer; 1 edition, August 1, 2006.

slide94

Let’s look at some rovers designed for a specific Earth environmentIGVC (Intelligent Ground Vehicle Competition)- Flat, wet or dry, grassy obstacle courses with tight turns- Mid-summer competition in Michigan, USA- Obviously 100% Earth gravity

slide95

IGVC (Intelligent Ground Vehicle Competition)- Flat, wet or dry, grassy obstacle courses with tight turns- Mid-summer competition in Michigan, USA

Our Wunderbots are all Zero Turning Radius vehicles

Wunderbot 3

Wunderbot 2 prototype

Wunderbot 4

wunderbots originally a test bed for educational collaboration and with variable performance goals
Wunderbots originally a test-bed for educational collaboration- and with variable performance goals

MultEbot 1, 2001

“Wunderbot” 0

Wunderbot 1 “MultEbot 2”

Wunderbot 0 website:

http://users.etown.edu/w/wunderjt/home_wunderbot0.html

Wunderbot 1 website:

http://users.etown.edu/w/wunderjt/StudentProjects/Wunderbot%202003/Wunderbot%20Webpage2003/Robot%20webfiles/index.htm

NOTE: Students announced renaming of MultEbot 2 to “Wunderbot”

at 2001 annual symposium

all recent wunderbots share website http www2 etown edu wunderbot
All recent Wunderbots share website:http://www2.etown.edu/wunderbot/

Wunderbot 3

Wunderbot 2 prototype

Wunderbot 4

slide98

IGVC (Intelligent Ground Vehicle Competition)- Flat, wet or dry, grassy obstacle courses with tight turns- Mid-summer competition in Michigan, USA

virginia tech robot 1
Virginia Tech (Robot #1)

Articulated Body

(Like an Ant, or a tractor-trailer)

europa rover optional course project concept paper
Europa RoverOptional course project Concept Paper

Europa

is covered in ice !

And the mission is to get to the liquid ocean beneath the ice

Image from: http://photojournal.jpl.nasa.gov/catalog/PIA00502

europa cracks in the ice and an ocean below
Europa (Cracks in the ice – and an ocean below)

Spots are possibly from warm ocean interacting with surface

Spots are 10 km across

Image from: http://www.mapaplanet.org/explorer/help/data_set.html

europa rover an optional course project concept paper

Read

course syllabus

for details

Europa RoverAn optional course project Concept Paper

Image from: http://www.mapaplanet.org/explorer/help/data_set.html

future psuedo manned missions

Future psuedo-manned missions?

VIDEO: http://www.youtube.com/watch?v=Q3C5sc8b3xM

future psuedo manned missions1

Plus a helper

Future psuedo-manned missions?

VIDEO : http://www.youtube.com/watch?v=Q3C5sc8b3xM VIDEO: http://www.youtube.com/watch?v=W1czBcnX1Ww

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