Robot-terrain interactions for space robots

这个研究项目研究太空机器人，以及它们如何与地形相互作用：通过驾驶、抓取、取样和挖掘。随着机器人太空探索越来越多地瞄准月球、火星和小行星上的极端地形，对机器人如何与这些地形相互作用的准确理解提高了成功的机会。“勇气号”火星探测车被困在松软的土壤中，“好奇号”火星科学实验室探测车车轮上的撕裂和穿孔，都表明了目前在火星上漫游所面临的一些挑战，而这些挑战正是这项研究将要解决的。***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明智的风险分析。除了解决当前的挑战，这项研究还为太空探索开辟了新的机会。例如，先进的探测车能够在更陡峭的沙质斜坡上行驶，对大量新的陨石坑和山脉进行探索。有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太空机器人领域的全球领导地位，这将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，这是一项增强加拿大安全的应用。********

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.********