Crater Explorer

Integrated system in DFKI’s Space Exploration Hall (Photo: DFKI GmbH)
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Technical Details

Size: 820 x 1000 x 220 mm (normal posture)
Weight: 27kg
Power supply: 50V/2.400mAh
Actuation/ Engine:
24 joints for 6 legs + 1 body joint (RoboDrive + HarmonicDrive) 2 Servo motors (Dynamixel) for head control
Joints: Current measurement, voltage measurement, rotational speed, position (absolute and incremental), temperature; Each foot: 4x pressure for deformation measurement of flexible foot material, 3-axis acceleration measurement, optical encoder for immersion of spring element in lower leg, ADC for 4x strain gauges usable for i.e. bending measurement of optional claws
Electro-mechanical interface (EMI) for tight connection to Sherpa in the project RIMRES. The interface is controlling energy and data exchange between coupled systems

Organisational Details

Team: Team V - Behavior Control & Simulation
Application Field: Space Robotics
Related Software: Rock
Robot Construction Kit

System description

CREX as CAD model in stowed position for transport attached to Sherpa robot (Source: DFKI GmbH)

CREX (CRater EXplorer) is a six-legged walking robot that is based on the developments in the project SpaceClimber.

CREX acts as a scouting system in the project RIMRES. The robot is intended to explore the inner of deep lunar polar craters in search for water ice or other volatile substances.

Via the electro-mechanical interface on CREX‘ back the robot can be connected to the Sherpa rover for travelling longer distances. Furthermore an expansion of the system‘s capabilities is possible with the EMI: Additional battery modules or scientific instruments can be docked to the interface.

CREX: Postures

CREX demonstrating its postural abilities. These are used for docking to Sherpa or in steep crater slopes

RIMRES: Sherpa and Crex

Sherpa is using its manipulator to deploy CREX. A possible use-case is the deployment off a landing unit at the beginning of an exploration mission

RIMRES: systems in a lunar exploration mission

The video shows a possible lunar exploration mission for the RIMRES-system.

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last updated 21.06.2016
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