The figure depicts the steep terrain access robot (STAR) — a walking robot that has been proposed for exploring steep terrain on remote planets. Robots based on the STAR concept could also be used on steep terrain on Earth for diverse purposes that could include not only scientific exploration but also military reconnaissance and search-and-rescue operations.

The Steep Terrain Access Robot would walk by use of legs tipped with ultrasonic/sonic devices thatwould anchor themselves in the terrain.
The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. The STAR would be capable of performing such tasks as acquisition of samples and placement of instruments. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

The plan for the initial stage of development calls for construction of a prototype STAR as a combination of a walking robot, denoted the LEMUR IIb, that was described in "Modification of a Legged Robot to Favor Climbing" (NPO-40354), NASA Tech Briefs, Vol. 30, No. 4 (April 2006), page 80. The prototype would enable testing of the STAR concept on planar slopes. Eventually, a robot more like the one shown in the figure would be constructed. This robot would be capable of moving over slopes having three-dimensional features.

This work was done by Brett Kennedy, Anthony Ganino, Hrand Aghazarian, Robert Hogg, Michael McHenry, and Michael Garrett of Caltech for NASA's Jet Propulsion Laboratory.

The software used in this innovation is available for commercial licensing. Please contact Karina Edmonds of the California Institute of Technology at (626) 395-2322. Refer to NPO-41158.

Topics:
Automation Computer software and hardware Drilling Machining processes Mathematical models Mechanical Components Mechanics Research and development Robotics Sensors and actuators Simulation and modeling Terrain
This Brief includes a Technical Support Package (TSP).
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Robot Would Climb Steep Terrain

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NASA Tech Briefs Magazine

This article first appeared in the October, 2007 issue of NASA Tech Briefs Magazine (Vol. 31 No. 10).

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Overview

The document outlines the development of a robotic system known as the Steep Terrain Access Robot (STAR), designed to navigate steep slopes, including vertical faces and overhangs, which are critical for planetary exploration. The motivation behind this project stems from the need to access challenging terrains, such as the slopes of the Moon’s Aitkin Crater, as identified in the NRC’s Decadal Report. The ability to traverse these areas is essential for maximizing scientific potential during surface operations on planetary bodies.

The STAR system aims to overcome the limitations of existing robotic technologies, which typically fall into three categories: gravity-stabilized legged and wheeled robots, tethered robots, and robots that adhere to surfaces using suction cups, magnets, or adhesives. While these methods have their advantages, they are often restricted to specific substrate conditions and may not be suitable for the diverse environments encountered in space exploration.

To address these challenges, the STAR system will incorporate modified Ultrasonic Drills (NTR 40827) attached to the limbs of the LEMUR IIb platform. This configuration will allow the robot to actively anchor itself to slopes as it moves, providing stability and control even on steep inclines. The development of a new class of Ultrasonic/Sonic Driller/Corer (USDC) end effectors, along with advanced sensing and algorithms, will enable the robot to perform tasks such as sample acquisition and instrument placement effectively.

The document emphasizes the novelty of the STAR project, highlighting its potential to access previously unreachable areas and perform useful work in extreme environments. The research and technology developed for STAR are expected to have broader applications beyond space exploration, including military scouting, search-and-rescue operations, and remote scientific data collection.

In summary, the STAR initiative represents a significant advancement in robotic technology, aiming to enhance our ability to explore and utilize the surfaces of planetary bodies. By enabling robots to traverse steep and complex terrains, this project could unlock new scientific opportunities and contribute to our understanding of extraterrestrial environments.