In order to increase the scientific output of a rover mission it is very necessary to explore much larger surface areasreliably in much less time. This is the main driver for a robotics institute to combine mechatronics functionalities to developan intelligent mobile vehicle with an appropriate number of wheels, and having specific kinematics and locomotionsuspension depending on the operational terrain of the rover to operate. Moreover, a shift from a traditional bogieand wheel design to more agile wheel-legged combined systems seems to be beneficial in order to reach the goals.DLR's Robotics and Mechatronics Center has a long tradition in developing advanced components in the field of lightweightmotion actuation, intelligent and soft manipulation and skilled hands and tools, perception and cognition, and inincreasing the autonomy of any kind of mechatronic systems. The whole design is supported and is based upon detailedmodelling, optimization, and simulation tasks. We have developed efficient software tools to simulate the rover driveabilityperformance on various terrain characteristics such as soft sandy and hard rocky terrains as well as on slopes,where wheel and grouser geometry plays a dominant role. Moreover, rover design supported by means of optimizationtools from the very beginning is a must. Optimization aids can support the best engineering intuitions, that will optimizestructural and geometric parameters, compare various kinematics suspension concepts, and make use of realistic costfunctions like mass and consumed energy minimization, static stability, and more. For self-localization and safe navigationthrough unknown terrain we make use of fast 3D stereo algorithms that were successfully used in terrestrial mobilesystems. The advanced rover design approach is applicable for lunar as well as Martian surface exploration purposes.
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