ATHLETE: A Mobility and Manipulation System for the Moon

A robotic vehicle called ATHLETE - the all-terrain, hex-limbed, extra-terrestrial explorer is described, along with initial results of field tests of two prototype vehicles. This vehicle concept is capable of efficient rolling mobility on moderate terrain and walking mobility on extreme terrain. Each limb has a quick-disconnect tool adapter so that it can perform general-purpose handling, assembly, maintenance, and servicing tasks using any or all of the limbs.