ICRA 2012 Paper Abstract

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Paper WeD09.13

Parness, Aaron (Nasa Jet Propulsion Laboratory), Frost, Matthew (NASA Jet Propulsion Laboratory), King, Jonathan (The Ohio State University), Thatte, Nitish (Rutgers University)

Demonstrations of Gravity-Independent Mobility and Drilling on Natural Rock Using Microspines

Scheduled for presentation during the Video Session "Video Session" (WeD09), Wednesday, May 16, 2012, 17:30−17:35, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 12, 2017

Keywords Space Robotics, Space Exploration Rover, Mechanism Design of Mobile Robots

Abstract

The video presents microspine-based anchors being developed for gripping rocks on the surfaces of comets and asteroids, or for use on cliff faces and lava tubes on Mars. Two types of anchor prototypes are shown on supporting forces in all directions away from the rock; >160 N tangent, >150 N at 45, and >180 N normal to the surface of the rock. A compliant robotic ankle with two active degrees of freedom interfaces these anchors to the Lemur IIB robot for future climbing trials. Finally, a rotary percussive drill is shown coring into rock regardless of gravitational orientation. As a harder-than-zero-g proof of concept, inverted drilling was performed creating 20mm diameter boreholes 83 mm deep in vesicular basalt samples while retaining 12 mm diameter rock cores in 3-6 pieces.

 

 

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