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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

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
Overall Axel Concept

Key Concept - separate payload/science modules from transporters

Axel2

Axel4

Axel6

I.A.N.

axel 2 planetary explorer
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.

compact packaging
Compact Packaging

Inflatable Wheels

Foldable Wheels

I.A.N.

axel 4 science payload module
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.

in field reconfiguration
In-field Reconfiguration

Auto-foldable Leg

I.A.N.

reconfigurable axel robots
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.

key challenges
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.