Axel
Recent scientific findings suggest that some of the most interesting sites for future exploration of planetary surfaces lie in terrains that are currently inaccessible to conventional robotic rovers. To provide robust and flexible access to these terrains, we have been developing Axel, the robotic r...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/58853 |
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| author | Abad-Manterola, Pablo Edlund, Jeffrey A. Burdick, Joel W. Wu, Albert Oliver, Thomas Nesnas, Issa A. D. Cecava, Johanna |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Abad-Manterola, Pablo Edlund, Jeffrey A. Burdick, Joel W. Wu, Albert Oliver, Thomas Nesnas, Issa A. D. Cecava, Johanna |
| author_sort | Abad-Manterola, Pablo |
| collection | MIT |
| description | Recent scientific findings suggest that some of the most interesting sites for future exploration of planetary surfaces lie in terrains that are currently inaccessible to conventional robotic rovers. To provide robust and flexible access to these terrains, we have been developing Axel, the robotic rover. Axel is a lightweight two-wheeled vehicle that can access steep terrains and negotiate relatively large obstacles because of its actively managed tether and novel wheel design. This article reviews the Axel system and focuses on those system components that affect Axel's steep terrain mobility. Experimental demonstrations of Axel on sloped and rocky terrains are presented. |
| first_indexed | 2024-09-23T11:57:17Z |
| format | Article |
| id | mit-1721.1/58853 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:57:17Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/588532022-09-27T23:03:43Z Axel Abad-Manterola, Pablo Edlund, Jeffrey A. Burdick, Joel W. Wu, Albert Oliver, Thomas Nesnas, Issa A. D. Cecava, Johanna Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Wu, Albert Wu, Albert space robotics search and rescue robots sampling extreme terrain Field robots Recent scientific findings suggest that some of the most interesting sites for future exploration of planetary surfaces lie in terrains that are currently inaccessible to conventional robotic rovers. To provide robust and flexible access to these terrains, we have been developing Axel, the robotic rover. Axel is a lightweight two-wheeled vehicle that can access steep terrains and negotiate relatively large obstacles because of its actively managed tether and novel wheel design. This article reviews the Axel system and focuses on those system components that affect Axel's steep terrain mobility. Experimental demonstrations of Axel on sloped and rocky terrains are presented. National Science Foundation (U.S.) 2010-10-04T19:40:02Z 2010-10-04T19:40:02Z 2009-12 Article http://purl.org/eprint/type/JournalArticle 1070-9932 INSPEC Accession Number: 11019891 http://hdl.handle.net/1721.1/58853 Abad-Manterola, P. et al. “Axel.” Robotics & Automation Magazine, IEEE 16.4 (2009): 44-52. © Copyright 2010 IEEE en_US http://dx.doi.org/10.1109/MRA.2009.934821 IEEE Robotics & Automation Magazine Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | space robotics search and rescue robots sampling extreme terrain Field robots Abad-Manterola, Pablo Edlund, Jeffrey A. Burdick, Joel W. Wu, Albert Oliver, Thomas Nesnas, Issa A. D. Cecava, Johanna Axel |
| title | Axel |
| title_full | Axel |
| title_fullStr | Axel |
| title_full_unstemmed | Axel |
| title_short | Axel |
| title_sort | axel |
| topic | space robotics search and rescue robots sampling extreme terrain Field robots |
| url | http://hdl.handle.net/1721.1/58853 |
| work_keys_str_mv | AT abadmanterolapablo axel AT edlundjeffreya axel AT burdickjoelw axel AT wualbert axel AT oliverthomas axel AT nesnasissaad axel AT cecavajohanna axel |