/Lunar Rover for Polar Crater Exploration

Lunar Rover for Polar Crater Exploration

Portrait of Lunar Rover for Polar Crater Exploration
Head: David Wettergreen
Contact: David Wettergreen
Associated Lab: Field Robotics Center (FRC)
Homepage
Last Project Publication Year: 2012

The polar craters of the moon lie in permanent shadow and may hold water ice frozen in the deep cold. The Scarab rover has been designed to carry a 1-meter coring drill and a payload of science instruments that can analyze the abundance of hydrogen, oxygen and other materials. Scarab has a unique transforming chassis that allows it to lay down on the ground to stablize a drill and also to posture itself for slope ascent and descent. Onboard software controls motions and uses laser scanning technologies to autonomously perceive and navigate terrain in total darkness.

Displaying 7 Publications
A Grouser Spacing Equation for Determining Appropriate Geometry of Planetary Rover Wheels
Krzysztof Skonieczny, Scott Jared Moreland and David Wettergreen

Conference Paper, Intelligent Robots and Systems (IROS), October, 2012
Novel Experimental Technique for Visualizing and Analyzing Robot-Soil Interactions
Krzysztof Skonieczny, Scott Jared Moreland, Colin Creager and David Wettergreen

Conference Paper, Earth and Space Conference, April, 2012
Rover mobility on granular soil: Marrying multi-scale modeling and high fidelity experiments to infer soil stresses under the moving wheel
Ivan Vlahinic, Jose Andrade, Krzysztof Skonieczny, Scott Jared Moreland and David Wettergreen

Conference Paper, Earth and Space Conference, April, 2012
Soil Motion Analysis System for Examining Wheel-Soil Shearing
Scott Jared Moreland, Krzysztof Skonieczny, David Wettergreen, Colin Creager and Vivake Asnani

Conference Paper, International Conference of the International Society for Terrain-Vehicle Systems, September, 2011
Inching Locomotion for Planetary Rover Mobility
Scott Jared Moreland, Krzysztof Skonieczny and David Wettergreen

Conference Paper, IEEE Aerospace, March, 2011
Field Experiments in Mobility and Navigation with a Lunar Rover Prototype
David Wettergreen, Dominic Jonak, David Kohanbash, Scott Jared Moreland, Spencer Spiker and James Teza

Conference Paper, Field and Service Robotics, July, 2009
Design of the Scarab Rover for Mobility and Drilling in the Lunar Cold Traps
Paul Bartlett, David Wettergreen and William (Red) L. Whittaker

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space, February, 2008

Current RI People

Past Project People

  • John P Thornton
  • Dominic Jonak
  • Spencer Spiker
  • Paul Bartlett
  • Scott Jared Moreland
2017-09-13T10:41:50-04:00