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ATHLETE: a limbed vehicle for solar system exploration

Show simple item record Wilcox, Brian H. 2015-03-18T21:34:28Z 2015-03-18T21:34:28Z 2012-03-03
dc.identifier.citation 2012 IEEE Aerospace Conference, Big Sky, Montana, March 3-10, 2012 en_US
dc.identifier.clearanceno 11-5569
dc.description.abstract As part of the Human-Robot Systems project funded by NASA, the Jet Propulsion Laboratory has developed a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer.1 Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25% lighter than a conventional mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of-freedom to use as a general-purpose manipulator (hence the name ―limb" instead of ―leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2012 en_US
dc.subject Space Robotics en_US
dc.subject Hybrid Wheel/Leg vehicles en_US
dc.title ATHLETE: a limbed vehicle for solar system exploration en_US
dc.type Preprint en_US

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