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An autonomous robotic scooping approach for planetary sample acquisition

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3 Author(s)
Antonio Diaz-Calderon ; Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, 91109-8099, USA ; Paul G. Backes ; Robert G. Bonitz

This paper describes a system design concept to enable automated sample acquisition on planetary surfaces without the use of additional sensor information such as cameras and force/torque sensors. A simple and robust solution is presented to the unique problems encountered in in situ science applications with its tight constraints on mass, power, computing resources and lack of flight-qualified hardware. Problems addressed include end-effector contact detection, trajectory generation, hardware fault monitoring and autonomous determination of terrain profile.

Published in:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007