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Carnegie Mellon Robotics Institute

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Abstract

Controlling slip is crucial to reliable descent of steep unconsolidated slopes such as those found in lunar craters. The ability to enter these craters provides opportunities to explore potential in-situ resources, such as water ice. We present a rover prototype with a novel, actuated, omni-directional plowing device and control method for maneuvering on steep slopes. Data from field experiments show reliable control during descent on loose sand slopes up to 40°, with twenty-fold reduction in downhill slip and a threefold reduction in slip during point turns. In particular, the data indicates that plowing eliminates slip caused by shear failure created in angle-of-repose material.

Keywords

crater descent, lunar exploration, slip control

Notes

Sponsor: NASA

Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center

Associated Project(s): Lunar Ice Discovery Initiative

Text Reference

Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker, "Plowing for Controlled Steep Crater Descents," International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008.

BibTeX Reference

@inproceedings{Ziglar_2008_6015,
   author = "Jason Ziglar and David Kohanbash and David Wettergreen and William (Red) L. Whittaker",
   title = "Plowing for Controlled Steep Crater Descents",
   booktitle = "International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS)",
   month = "February",
   year = "2008",
}

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