an animated overview of planetary …robotics.estec.esa.int/.../papers/astra2002_3.1-02.pdfastra...

1

Automation and Robotics Section (TOS-MMA)

AN ANIMATED OVERVIEW OFPLANETARY ROBOTICS:

Past, Present and Future

Michel Van Winnendael*, Francesco Grassini*, James Garry**, Gianfranco Visentin*

*European Space Agency, Automation and Robotics Section**Planetary and Space Sciences Research Institute, Open University, Milton Keynes, UK

ASTRA 2002 19-21 November 2002ESTEC, Noordwijk, The Netherlands

Issue 2


Introduction

The subject of this slide show is planetary robotics, defined as

“systems which provide manipulation and/or mobility functions, which moreover have a certain flexibility to perform a variety of tasks, and which are designed to operate on or near the surface of celestial bodies”.

Typically these functions consist of moving around on celestial bodies (on, above or under the surface), transporting, loading/ unloading and positioning items on the surface of a planet, moon, asteroid or comet nucleus.

We have made a (necessarily subjective) selection of missions and developments which we consider most relevant in the frame of planetary robotics.


7th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2002'ESTEC, Noordwijk, The Netherlands, November 19 - 21, 2002

1

2


e.g. Lunokhods, Russia 1970

e.g Marsokhod, Russia 1990’s

e.g. Nanokhod (ESA R&D 1999)

e.g. Sojourner NASA/JPL 1997

e.g. MUSES-CN, NASA/JPL R&D

For classification of planetary rovers we use the following definitions:

Rover Categories

• “micro rovers” from a few kg

• “large rovers” from few 100s kg to ~1000 kg

to ~10 kg

• “nano rovers” from 10s of g to ~1 kg

• “mini rovers” from few 10s kg to ~100 kg



Past Activities and Missions under Development



2

3


Luna 16 lander with arm and drilling rig (Credit: NPO Lavochkin / NASA NSSDC)

Russia (1970-1976)

Luna 16, Luna 20, Luna 24: Lunar Sample Return, returned Lunar soil sample to Earth (100g on Luna 16 in 1970, 30 g on Luna 20 in 1972, 170 g on Luna 24 in 1976))

Luna 16, 20, 24

1970 1980 1990 2000 2010 2020 2030


Luna 16 sample return(Credit:CD 'Soviets in Space‘ by

“Compact Book Publishing Co, Moscow”)

Russia (1970-1976)

Luna 16, Luna 20, Luna 24: Lunar Sample Return, returned Lunar soil sample to Earth (100g on Luna 16 in 1970, 30 g on Luna 20 in 1972, 170 g on Luna 24 in 1976)

Luna 16, 20, 24

1970 1980 1990 2000 2010 2020 2030


3

4


Luna24 sample return

Russia (1970-1976)

Luna 16, Luna 20, Luna 24: Lunar Sample Return, returned Lunar soil sample to Earth (100g on Luna 16 in 1970, 30 g on Luna 20 in 1972, 170 g on Luna 24 in 1976)

Luna 16, 20 & 24

1970 1980 1990 2000 2010 2020 2030


Lunokhod 1 on lander before deployment(Credit: NPO Lavochkin)

Russia (1970-1973)

Luna 17: carried the Lunokhod1 rover, the first rover on another world, which traveled 10 km on the Lunar Surface (Nov. 1970-Oct. 1971)

Luna 21: carried the Lunokhod2 rover, which covered 37 km of terrain (Jan 1973-Jun 1973)

Luna 17 & 21

1970 1980 1990 2000 2010 2020 2030


4

5


Russia (1970-1973)



Luna 17 & 21

Lunokhod mobility system testing (Credit: VNII Transmash)

1970 1980 1990 2000 2010 2020 2030


Russia (1970-1973)



Luna 17 & 21

Lunokhod Operation (Credit:CD 'Soviets in Space‘ by


1970 1980 1990 2000 2010 2020 2030


5

6


Lunokhod 2

Lunokhod Control Station (Credit: NPO Lavochkin / The Planetary Society)

Russia (1970-1973)



Luna 17 & 21

1970 1980 1990 2000 2010 2020 2030


The various LRV partsLRV-1 on Apollo 15, with astronaut (Credit: NASA) LRV-1 on Apollo 15 (Credit: NASA)

LRV with astronaut (Credit: NASA)

LRV Control Console (Credit: NASA) LRV wheel (Credit: NASA)

USA (1971-1972)

Lunar Roving Vehicle, a foldable 208 kg rover, designed to transport 2 astronauts, scientific equipment and lunar samples

LRV-1 on Apollo 15 (1971)LRV-2 on Apollo 16 (1972)LRV-3 on Apollo 17 (1972)

LRV APOLLO

1970 1980 1990 2000 2010 2020 2030


6

7


Russia (1971)

The Mars2 and Mars3 landersboth carried a ski-walking microrover called ProP-M, which was attached to the lander by means of a tether cable.

They both arrived during a big martian dust storm. Mars2 crashed. The Mars3 landing succeeded but after 20 s the communication was lost.

1970 1980 1990 2000 2010 2020 2030

Mars2, Mars 3 ProP-M

ProP-M microrover (Credit: VNII Transmash)


Russia (1971)

The Mars2 and Mars3 landersboth carried a ski-walking microrover called ProP-M, which was attached to the lander by means of a tether cable.

They both arrived during a big martian dust storm. Mars2 crashed. The Mars3 landing succeeded but after 20 s the communication was lost.

1970 1980 1990 2000 2010 2020 2030

Mars2, Mars 3 ProP-M

ProP-M deployment simulation(Credit:CD 'Soviets in Space‘ by



7

8


Viking 1 in cleanroom (Credit: NASA/JPL)

Viking Orbiters (Credit: NASA/JPL)Viking Lander with stowed furlable boom (Credit: NASA/JPL)

Viking Lander with deployed furlable boom (Credit: NASA/JPL)soil scoop (Credit: NASA/JPL)

image of trench made by the soil scoop (Credit: NASA/JPL)

USA (1975-1982)

First successful soft landings at two locations on the Martian surface.

Both landershad a furlableboom with a soil scoop to collect surface samples.

1970 1980 1990 2000 2010 2020 2030

Viking


ProP-F (Credit: VNII Transmash)

Russia (1988-1989)

The Phobos2 spacecraft carried a small “hopper” lander, called ProP-F, designed to land on Phobos (one of the moons of Mars).

Contact with the spacecraft was lost shortly before release of the hopper and another lander.

1970 1980 1990 2000 2010 2020 2030

Phobos2 Phobos Hopper


8

9


ProP-F in operation (simulation) (Credit: James Garry)

Russia (1988-1989)

The Phobos2 spacecraft carried a small “hopper” lander, called ProP-F, designed to land on Phobos (one of the moons of Mars).

Contact with the spacecraft was lost shortly before release of the hopper and another lander.

1970 1980 1990 2000 2010 2020 2030

Phobos2 Phobos Hopper


The M94 Marsokhod (Credit: VNII Transmash)The M94 Marsokhod (Credit: VNII Transmash) Marsokhod testing in USA, 1996 (Credit: NASA )Marsokhod testing in USA, 1996 (Credit: NASA)

Russia (1990-1995)

In view of a planned ambitious mission the Russians developed a minirover for Mars surface operations, called Marsokhod. The mission was repeatedly postponed and finally cancelled.

M94-M96 Marsokhod

1970 1980 1990 2000 2010 2020 2030


9

10


Russia (1990-1995)

In view of a planned ambitious mission the Russians developed a minirover for Mars surface operations, called Marsokhod. The mission was repeatedly postponed and finally cancelled.

M94-M96 Marsokhod

Marsokhod testing in Kamchatka, Russia (Credit: VNII Transmash)

1970 1980 1990 2000 2010 2020 2030


Artist’s impression of lander and rover (Credit: NASA )Airbags testing (Credit: NASA/JPL)

USA (1996-1997)

Mars lander using airbag technology. The first successful Mars landing since Viking.

Deployed a micro-rover called “Sojourner”.

Its operation was restricted to the immediate vicinity of the lander.

Rover mass 11 kgTop speed 40 cm/minute

The rover operated 12 times longer than its design lifetime of 7 days.

1970 1980 1990 2000 2010 2020 2030

Mars Pathfinder Sojourner Rover


10

11


USA (1996-1997)






1970 1980 1990 2000 2010 2020 2030


Airbags drop tests (Credit: NASA/JPL)


USA (1996-1997)






1970 1980 1990 2000 2010 2020 2030


Airbags drop tests (Credit: NASA/JPL)


11

12


USA (1996-1997)






1970 1980 1990 2000 2010 2020 2030


Sojourner tests (Credit: NASA/JPL)


Sojourner integration (Credit: NASA/JPL)Closing of the lander petals

(Credit: NASA)

Closing of the lander petals (Credit: NASA)Closing of the lander petals (Credit: NASA )

Launch (Credit: NASA )

USA (1996-1997)






1970 1980 1990 2000 2010 2020 2030



12

13


USA (1996-1997)






1970 1980 1990 2000 2010 2020 2030


Sojourner deployment

Sojourner deployment (Credit: NASA/JPL)


Sojourner control station (Credit: NASA/JPL)

Surface image (Credit: NASA/JPL)

USA (1996-1997)






1970 1980 1990 2000 2010 2020 2030



13

14


Illustration of parts of the lander (Credit: NASA/JPL)Surface operations artist impression (Credit: NASA/JPL)Soil scoop operation artist impression (Credit: NASA/JPL)Lander during integration (Credit: NASA/JPL)Lander testing at Lockheed Martin (Credit: NASA/JPL)

USA (1999)

A 290 kg Mars soft lander equipped with a 2 m long robotic arm, which would acquire samples of Martian soil.

The arm included a probe to measure the temperature of surface and subsurface soils.

The Robotic Arm Camera could take close-up images of the arm’s scoop and soil samples.

Contact with the lander was lost shortly before landing, it crash-landed.

1970 1980 1990 2000 2010 2020 2030

Mars Polar Lander


USA (1999)

A 290 kg Mars soft lander equipped with a 2 m long robotic arm, which would aquiresamples of Martian soil.




1970 1980 1990 2000 2010 2020 2030

Mars Polar Lander

Entry, descent, landing and surface operations(Credit: NASA/JPL)


14

15


USA (1999)





1970 1980 1990 2000 2010 2020 2030

Mars Polar Lander



USA (1999)





1970 1980 1990 2000 2010 2020 2030

Mars Polar Lander



15

16


MER artist’s impression (Credit: NASA/JPL)MER artist’s impression (Credit: NASA/JPL)MER-B rover during testing (Credit: NASA/JPL)

Illustration of MER parts (Credit: NASA/JPL)

MER-A rover stowed on lander during testing(Credit: NASA/JPL)MER-B rover with Sojourner Flight Spare (Credit: NASA/JPL)

USA (planned 2003-2004)

Two identical, powerful Mars rovers (MER-A and MER-B) will be launched in May-July of 2003, and will arrive at Mars in January 2004 at two different sites.

Mass of each rover: 180 kgDaily travel distance: 100 m

A robotic arm will be used to position scientific instruments and a rock abrasion tool (RAT)

1970 1980 1990 2000 2010 2020 2030

Mars Exploration Rovers 2003



Two identical, powerful Mars rovers (MER-A and MER-B) will be launched in the May-July 2003, and will arrive at Mars in January 2004 at two different sites.



1970 1980 1990 2000 2010 2020 2030


From entry to surface operations – simulation(Credit: NASA/JPL)


16

17






1970 1980 1990 2000 2010 2020 2030









1970 1980 1990 2000 2010 2020 2030



17

18


Rover instruments (Credit: NASA/JPL)

The robotic arm with instruments and RAT (Credit: NASA/JPL)





1970 1980 1990 2000 2010 2020 2030



Beagle2 model (Credit: Beagle 2 team)

Scheme of the PAW of Beagle 2 ’s robotic arm (Credit: Beagle 2 team)Development model of the arm on mounting plate (Credit: Beagle 2 team)

Flight model of the arm at delivery(Credit: Astrium / Beagle 2 Team)

PAW qualification model (Credit: Beagle 2 team)

Qualification model of the mole (Credit: Beagle 2 team)

Release of Beagle 2, artist’s impression (Credit: ESA/ Beagle 2 team)

Beagle 2 Mars entry (Credit: ESA)

Beagle 2 landing (Credit: Beagle 2 Team)

Beagle 2 airbags release (Credit: ESA)Beagle 2 surface operations (Credit: ESA)

Europe (planned 2003-2004)

ESA’s Mars orbiter Mars Express, to be launched in June 2003, will carry a small (65kg) exobiology lander, named ‘Beagle 2’, designed and built in the UK.

The lander has a small robotic arm, which carries a “PAW”, including scientific instruments, a mole which can collect subsurface soil samples, and a tool to collect rock samples.

Mars Express and Beagle 2 will arrive at Mars on 26 December 2003.

1970 1980 1990 2000 2010 2020 2030

Mars Express Beagle 2 Lander


18

19


Approach to the asteroid – artist ’s impression (Credit: ISAS)

model of Muses-C with return capsule (Credit: ISAS)

Muses-C before touchdown (Credit: ISAS)

Muses-C at touchdown with sampler horn (Credit: ISAS)

Sampler horn (Credit: ISAS)Minerva hopping robot (Credit: ISAS)

Japan (planned 2003 - 2007)

The Muses-C mission will visit the 400 m diameter asteroid 1989ML and test the technology to return samples to earth of an asteroid ’s surface.

Launch is planned for May 2003. After a 22 months flight Muses-C will meet the asteroid, make observations, collect samples and return them to Earth by 2007.

Muses-C will release a hopping “robot” named Minerva to make close inspections.

1970 1980 1990 2000 2010 2020 2030

MUSES-C


Minerva release (Credit: James Garry)





1970 1980 1990 2000 2010 2020 2030

MUSES-C


19

20






1970 1980 1990 2000 2010 2020 2030

MUSES-C

Minerva hopping (Credit: James Garry)


Rosetta releases its lander – artist’s impression (Credit: ESA)

Lander on the comet’s surface – artist’s impression (Credit: ESA)

the Sample Drill and Distribution payload (Credit: Tecnospazio)


ESA’s Rosetta Mission will study the nucleus of comet Wirtanen.

It will be launched in January 2003. After a journey of 8 years it will deploy a lander on the the comet’s surface.

1970 1980 1990 2000 2010 2020 2030

ROSETTA


20

21


CONCEPTS FOR MEDIUM TERM FUTURE




NASA has planned to land an even bigger rover on the Martian surface with the 2009 Smartlander

Sojourner, MER03 and 2009 Rover – Artist impression (credit: NASA)

1970 1980 1990 2000 2010 2020 2030

MARS MINIROVER


21

22


the ExoMars rover (credit: ESA)


As part of the Aurora Programme, ESA’s ExoMarsmission, to be launched in 2009, will carry an exobiology rover of about 200 kg, incl. 40 kg of instruments.

1970 1980 1990 2000 2010 2020 2030

ExoMars




ExoMars


1970 1980 1990 2000 2010 2020 2030


22

23


the ExoMars rover (credit: ESA) the ExoMars rover (credit: ESA)



ExoMars

1970 1980 1990 2000 2010 2020 2030




ExoMars


1970 1980 1990 2000 2010 2020 2030


23

24


USA (???2005- 2010 ???)

The company Lunacorp has planned to send a rover to the Moon which can be teleoperatedby the public from Earth.

Icebreaker Rover Lunacorp

Icebreaker Rover (credit: Lunacorp)

1970 1980 1990 2000 2010 2020 2030


Tumbleweed artist’s impression (Credit: NASA/JPL)

Tumbleweed cross-section (Credit: NASA/JPL)

Concept

A large ball which travels over the Martian surface due to wind force.

Tumbleweed

1970 1980 1990 2000 2010 2020 2030


24

25


Concept

Rovers with inflatable wheels have good locomotion abilities, on a variety of terrain conditions, and are light and compact

Rovers with inflatable wheels

rovers with inflatable wheels (Credit: NASA/JPL)

1970 1980 1990 2000 2010 2020 2030


Concept

Vertical cliff walls e.g. on Mars are scientifically interesting locations which can be reached using cliffbots.

Cliffbots

cliffbots (Credit: NASA/JPL)

1970 1980 1990 2000 2010 2020 2030


25

26


Concept

Small hopping robots can surmount big rocks.

Hopping Robots

Hopping robot (Credit: NASA/JPL)

1970 1980 1990 2000 2010 2020 2030


Montgolfiere on Mars – artist impression (Credit: NASA/JPL)

Solar Montgolfiere operation (Credit: NASA/JPL)

Aerobot on Titan – artist’s impression (Credit: NASA/JPL)

Concept

Balloon type robots for e.g. Mars and Venus Exploration, or for Titan, Saturn’s largest moon which is believed to have a methane-ethane atmosphere and oceans.

Aerobots

1970 1980 1990 2000 2010 2020 2030


26

27


Mars cryobot – artist ’s impression (Credit: NASA/JPL)Mars cryobot – artist ’s impression (Credit: NASA/JPL)

Concept

Cryobots are probes which penetrate though ice layers by melting the ice locally.

They may be usable on parts of the Martian surface or on Europa, a moon of Jupiter which is believed to have an ice layer many kilometres thick covering a water ‘ocean’.

Cryobots

1970 1980 1990 2000 2010 2020 2030


hydrobot on Europa, released by cryobot – artist impression (Credit: NASA/JPL)

Concept

Hydrobots are probes which can operate in liquid oceans, e.g. on Europa, underneath its ice crust.

Hydrobots

1970 1980 1990 2000 2010 2020 2030


27

28


ROBOTICS FORLUNAR AND PLANETARY

BASES



Pressurized rover with robotic arms (Credit:NASA)

Pressurized rover with robotic arm (Credit: NASA)Roving vehicles (Credit: NASA) Robotic support equipment

(Credit: NASA/ J. Frassanito & Associates) Robotic support equipment

(Credit: NASA / J. Frassanito & Associates)

Crane to unload arriving modules (Credit: NASA/ P. Rawlings)

Loader and hauler offloading (Credit: NASA)lunar production plant (Credit: NASA/ P. Rawlings)Lunar mining (Credit: NASA/ P. Rawlings)

When permanent are be established on the Earth ’s moon robotic technologies will be needed, both during the robotic and manned phases.

Lunar Bases

1970 1980 1990 2000 2010 2020 2030


28

29


Rover deployment from lander Roving vehicles

(Credit: NASA/ P. Rawlings)

Robotic support equipment (Credit: NASA / J. Frassanito & Associates)

Martian production plant (Credit: NASA/ P. Rawlings)

Martian mining (Credit: NASA)

When permanent bases are established on Mars robotic technologies will be needed, both during the robotic and manned phases.

Mars Bases

1970 1980 1990 2000 2010 2020 2030


Web Resources



29

30


Past Space Missions: http://www.astronautix .com,http://www.hq.nasa.gov/office/pao/History/http://www.nasa.gov/gallery/photo/http://nssdc.gsfc.nasa.gov/planetary/chronology.htmlhttp://www.solarviews .com

Russian Lunar Missions and Lunokhods: http://www.private.peterlink .ru/rcl/http://www.astronautix .comhttp://vsm.host.ru/

Russian Marsokhod developments: http://www.private.peterlink .ru/rcl/

NASA/JPL Mars Exploration Rovers(MER03): http://mars.jpl.nasa.gov/mer/http:// astrogeology.usgs.gov/Projects/MER-AthenaMI/http://www.nirgal.net/rover_2003.html

NASA/JPL Pathfinder Mission: http://mars.jpl.nasa.gov/MPF/index1.html,http://nssdc.gsfc.nasa.gov/planetary/mesur.html

NASA/JPL Viking Missions: http://nssdc.gsfc.nasa.gov/planetary/viking.html

ESA/UK Mars Express and Beagle-2 Lander: http:// sci.esa.int/home/marsexpress /index.cfmhttp://beagle2.open.ac.uk/index.htm

ISAS MUSES-C Mission:http://www.muses-c.isas.ac.jp/INDEX.html



Commercial Lunar Missions:http://www.lunacorp.com

Planetary and Lunar Bases: http://www.buriedonthemoon.com/lunox.htm,http://www.challenger.org/gallery/mars/marsgallery1.html,http://www.marssociety.org/interactive/mars_charts.asp

Space Exploration Robotic Technology:http://robotics.jpl.nasa.gov/robotics.html, http://mars.jpl.nasa.gov/mep/tech/rovers.html,http://prl.jpl.nasa.gov/, http://robots.mit.edu/projects/index.html,http://www.mdrobotics.ca/spaceex.html



30

31


Conditions for Use of Photographs, Images and Videos

All materials used in the presentation are believed to be in the public domain. However no warranty is made and use of such materials is at your own risk. Any such use should notcredit ESA except in case of ESA copyrighted images.

If a specific copyright notice or credit to an individual or an organization is given, that person or organization should be contacted directly to arrange for their use.

The CD “Soviets in Space” is edited by "Compact Book Publishing Co, Moscow, part of theUltimax Group Inc, and published in 1994-1997“

Material from James Garry can be used 'as is' in Print, CD-ROM's, or other web sites provided:

– Picture credit is given with © James Garry noted. – James Garry (<[email protected]>) is notified of their use



31

an animated overview of planetary …robotics.estec.esa.int/.../papers/astra2002_3.1-02.pdfastra...

Documents