Robot-terrain interactions for space robots

太空机器人的机器人与地形交互

• 批准号: RGPIN-2015-06046
• 负责人: Skonieczny, Krzysztof
• 金额: $ 1.68万
• 依托单位: Concordia University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=613906
• 关键词: Robot; terrain; interactions; space; robots

This research program studies space robots, and how they interact with terrain: through driving, gripping, sampling, and digging. As robotic space exploration targets more and more extreme terrains on the Moon, Mars, and asteroids, an accurate understanding of how robots can interact with these terrains improves chances of success. The entrapment of the Mars Exploration Rover Spirit in soft soil and the tears and punctures in the Mars Science Laboratory Curiosity rover’s wheels demonstrate some of the current challenges of roving on Mars that this research will address. A deeper understanding of robot-terrain interactions would produce better-informed risk analysis for rovers. In addition to addressing current challenges, this research also opens new opportunities for space exploration. Advanced rovers able to drive on steeper sandy slopes, for example, open exploration to a significant number of new craters and mountains. Efficient planning of robot routes can get more out of power-starved space missions. These areas of research will help maintain Canada’s global leadership in space robotics, which provides the economy with a supply of high-tech jobs and inspires the next generation of Canadians to pursue science and engineering. Another applicable domain for this research is off-road mobility and autonomy of defence vehicles, an application that enhances Canada’s security.

这个研究项目研究太空机器人，以及它们如何与地形互动：通过驾驶，抓取，采样和挖掘。随着机器人太空探索的目标越来越接近月球、火星和小行星上的极端地形，准确了解机器人如何与这些地形互动可以提高成功的机会。火星探测漫游者精神号被困在软土中，火星科学实验室Currency漫游者车轮上的撕裂和穿孔表明了这项研究将解决的火星漫游目前面临的一些挑战。 更深入地了解机器人与地形的相互作用将为漫游者提供更好的风险分析。除了应对当前的挑战外，这项研究还为太空探索开辟了新的机会。例如，先进的火星车能够在更陡峭的桑迪斜坡上行驶，这就为大量新的陨石坑和山脉开辟了探索之路。高效的机器人路线规划可以从电力匮乏的太空任务中获得更多。 这些研究领域将有助于保持加拿大在空间机器人领域的全球领导地位，为经济提供高科技就业机会，并激励下一代加拿大人追求科学和工程。这项研究的另一个适用领域是国防车辆的越野机动性和自主性，这是一项加强加拿大安全的应用。