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Proceedings Paper

Amphibious modular robotic astrobiology
Author(s): Mark Yim; Babak Shirmohammadi; David Benelli
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Paper Abstract

This paper presents the design of a robot that can traverse land, water, as well as quicksand-like mud. The robot is low cost and modular allowing the replacement of a variety of arms suitable for many of the tasks associated with astrobiological exploration. An astrobiologist on a field study will spend most of the time walking around and exploring the site looking for areas of interest which will be tested in situ or sampled for testing offsite. For a robot replicating these tasks, it must be able to locomote in that terrain, sense the interesting features (or provide sensing for teleoperation), and do a variety of manipulation tasks once an area of interest is reached. The configurations for this robot include 10's of modules that can achieve astrobiological tasks such as amphibious locomotion, digging, core sampling, probing, liquid sampling and exploration. This paper also presents results from the first experiments of this platform at Lake Tyrrell, a salt lake in Australia.

Paper Details

Date Published: 2 May 2007
PDF: 11 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 65611S (2 May 2007); doi: 10.1117/12.719944
Show Author Affiliations
Mark Yim, Univ. of Pennsylvania (United States)
Babak Shirmohammadi, Univ. of Pennsylvania (United States)
David Benelli, Univ. of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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