Cooperating Reconfigurable Robots for Autonomous Planetary Sample Return Missions
Florian Cordes, Steffen Planthaber, Ingo Ahrns, Timo Birnschein, Sebastian Bartsch, Frank Kirchner
In ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, (ReMAR-2009), 22.6.-24.6.2009, London, o.A., pages 665-673, May/2009. ISBN: 978-88-89007-37-2.
In the project LUNARES (LUNAR Exploration Szenario) a technology demonstration of reconfigurable cooperating robots in extraterrestrial sample return missions is implemented using
state-of-the-art robotic technologies. A reconfigurable robot team consisting of a lander equipped with a manipulator, a rover, and a climbing robot is tested and demonstrated in a lunar crater test environment at the DFKI Laboratories. The aim is to accomplish a sample return mission from an (artificial) lunar crater in an autonomous way. To achieve the aim, the existing robotic technologies have to be enhanced in different areas such as locomotion in rough terrain, autonomy, and cooperation. The work is in progress, in this paper we present the current state of the development. The project is funded by the German Space Agency (DLR) and the Investment Association Bremen (BIG). LUNARES is a cooperation between the DFKI GmbH, EADS Astrium GmbH, and OHB-System AG.
Reconfigurable Robots, Heterogeneous Robot Team, Space Robotics, Lunar Crater Exploration