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ATHLETE: lunar cargo handling for international lunar exploration

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dc.contributor.author Wilcox, Brian H.
dc.date.accessioned 2015-04-22T17:35:55Z
dc.date.available 2015-04-22T17:35:55Z
dc.date.issued 2010-08-30
dc.identifier.citation AIAA Space 2010 Conference & Exposition, Anaheim, California, August 30 - September 2, 2010 en_US
dc.identifier.clearanceno 10-4564
dc.identifier.uri http://hdl.handle.net/2014/45162
dc.description.abstract As part of the Human-Robot Systems Project within the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The basic idea of ATHLETE is to have six relatively small wheels on the ends of legs. The small wheels and associated drive actuators are much less massive than the larger wheels and gears needed for an "all terrain" vehicle that cannot "walk" out of extreme terrain. The mass savings for the wheels and wheel actuators is greater than the mass penalty of the legs, for a net mass savings. Starting in 2009, NASA became engaged in detailed architectural studies for international discussions with the European Space Agency (ESA), the Japanese Space Agency (JAXA), and the Canadian Space Agency (CSA) under the auspices of the International Architecture Working Group (IAWG). ATHLETE is considered in most of the campaign options considered, providing a way to offload cargo from large Altair-class landers (having a cargo deck 6+ meters above the surface) as well as offloading international landers launched on Ariane-5 or H-2 launch vehicles. These international landers would carry provisions as well as scientific instruments and/or small rovers that would be used by international astronauts as part of an international effort to explore the moon.Work described in this paper includes architectural studies in support of the international missions as well as field testing of a half-scale ATHLETE prototype performing cargo offloading from a lander mockup, along with multi-kilometer traverse, climbing over >1m rocks, tool use, etc. 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, 2010 en_US
dc.subject Human Space Exploration en_US
dc.subject Space Robotics en_US
dc.subject International Collaboration in Space en_US
dc.title ATHLETE: lunar cargo handling for international lunar exploration en_US
dc.type Preprint en_US


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