A Modular Robotic Concept for Human/Robot Interaction and Planetary Exploration Issa A.D. Nesnas, Ph.D. Daniel Helmick Ayanna Howard Mobility Concept Development Section Jet Propulsion Laboratory Proposal for a modular space systems March 23, 2004

I.A.N. 2 Axel2 Axel4 Axel6 Overall Axel Concept Key Concept - separate payload/science modules from transporters

March 23, 2004 I.A.N. 3 Brushes Solar cells Stereo Cameras and/or Sensors Wheels (various types – foldable) Module interface Actuated Castor Link Motion Direction (fwd) Axel 2 – Planetary Explorer

March 23, 2004 I.A.N. 4 Compact Packaging Inflatable Wheels Foldable Wheels

March 23, 2004 I.A.N. 5 Passive Joint (constrained roll & yaw) Science/Payload Module covered w/ solar cells End effector scoops OR Science Instrument One DOF arm Symmetric science module (operates upside down/right-side up) Roll Yaw Pitch Yaw Electrical Connections OR Axel 4 – Science/Payload Module Example Payload Module

March 23, 2004 I.A.N. 6 In-field Reconfiguration Auto-foldable Leg

March 23, 2004 I.A.N. 7 Reconfigurable Axel Robots Simple - use 3 motors for Axel2 Modular – separate mobility from payload Redundant – replace failed modules Scalable – use large foldable wheels Cleanable - use brushes to wipe solar cells Compact - package in a small volume Robust - handle sudden drops Flexible - vary payload combinations Transporter - carry loads to assist humans

March 23, 2004 I.A.N. 8 Proposal for FY04/FY05 Modular Systems ObjectivesAxel Demonstration Reliable in-field dockingCarry payloads for astronauts Separation of Payload from MobilityBuilt-in Modular AvionicsUse Virtex Pro as computational module Flexible Payload and OperationCarry single and multiple payloads of different sizes Intelligent Distributed PowerShare power generation and storage among modules ReliabilityRecover after one module fails ScalableAdd more modules Scalable AutonomyTele-operate or control w/ single commands from astronauts

March 23, 2004 I.A.N. 9 Key Challenges Demonstrate Axel as an effective mobility concept in various terrains Demonstrate reliable in-field docking - (6 DOF) Demonstrate failure recovery Demonstrate feasibility given power constraints Control of Axel4 and higher can be complex