Robotic concepts for operation in barren terrain. Final report

摘要

We have performed a series of studies and configurations for robots that are capable of operating in rough barren terrains. The environments we are targeting are like those of the moon or other planets in the roughness and starkness of the terrains, the loose and hard materials that range from sandy slopes to boulder fields, and the extremes of temperature that are encountered in such places. We present a mission scenario, requirements and then present and evaluate a mechanism design. Additional subsystem issues of power, communication, sensing, and computing are all addressed with respect to these requirements.