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Proceedings Paper

Mars lander robotics and machine vision capabilities for in-situ planetary science
Author(s): Paul S. Schenker; D. L. Blaney; D. K. Brown; Yoseph Bar-Cohen; Shyh-Shiuh Lih; Randall A. Lindemann; Eric D. Paljug; Jeff T. Slostad; Gregory K. Tharp; C. E. Tucker; Christopher J. Voorhees; Charles R. Weisbin; Eric T. Baumgartner; R. B. Singer; R. Reid
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Paper Abstract

We overview our recent progress in lander-based robotics for Mars planetary science. Utilizing a 1:1 scale laboratory replica of the NASA Mar Surveyor '98 mission, JPL engineers and Mars science colleagues have demonstrated approaches to lander science functions such as robotic sample acquisition and deposition, end-effector based microscopic viewing, hand- carried science instrument data collection, and science instrument emplacement by a robot. Some of the significant technical advances underlying this simulated Mars flight capability include JPL's innovation of a new lightweight, mechanically stiff, gas deployed telescopic two meter robot arm, and cooperative engineering work with Michigan Tech colleagues on automated visual positioning control of robotic sampling. University of Arizona and JPL have further developed complementary advances in lander-based imaging spectroscopy and its robotic enablement. We outline this work, summarizing its key technical features, and illustrating experimental progress with photographs and an accompanying conference videotape.

Paper Details

Date Published: 3 October 1995
PDF: 12 pages
Proc. SPIE 2588, Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling, (3 October 1995); doi: 10.1117/12.222667
Show Author Affiliations
Paul S. Schenker, Jet Propulsion Lab. (United States)
D. L. Blaney, Jet Propulsion Lab. (United States)
D. K. Brown, Jet Propulsion Lab. (United States)
Yoseph Bar-Cohen, Jet Propulsion Lab. (United States)
Shyh-Shiuh Lih, Jet Propulsion Lab. (United States)
Randall A. Lindemann, Jet Propulsion Lab. (United States)
Eric D. Paljug, Jet Propulsion Lab. (United States)
Jeff T. Slostad, Jet Propulsion Lab. (United States)
Gregory K. Tharp, Jet Propulsion Lab. (United States)
C. E. Tucker, Jet Propulsion Lab. (United States)
Christopher J. Voorhees, Jet Propulsion Lab. (United States)
Charles R. Weisbin, Jet Propulsion Lab. (United States)
Eric T. Baumgartner, Michigan Technological Univ. (United States)
R. B. Singer, Univ. of Arizona (United States)
R. Reid, Univ. of Arizona (United States)

Published in SPIE Proceedings Vol. 2588:
Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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