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首页> 外文会议>Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561 >Amphibious Modular Robotic Astrobiology
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Amphibious Modular Robotic Astrobiology

机译：两栖模块化机器人天体生物学

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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.
机译：本文介绍了一种可以穿越陆地，水以及流沙般泥浆的机器人的设计。该机器人成本低廉且模块化，可以更换各种与天体生物学探索相关的任务而适用的手臂。一位从事现场研究的天体生物学家将大部分时间花在四处走动，并探索该站点，以寻找感兴趣的区域，这些区域将被现场测试或采样以进行异地测试。对于要复制这些任务的机器人，它必须能够在该地形中运动，感知有趣的功能（或为遥操作提供感知），并在到达感兴趣的区域时执行各种操作任务。该机器人的配置包括10多个模块，这些模块可以完成诸如两栖运动，挖掘，岩心采样，探测，液体采样和勘探等天体生物学任务。本文还介绍了该平台在澳大利亚盐湖泰瑞尔湖的首次实验结果。

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