Axel
Name
Abad-Manterola-2009-Axel.pdf
Size
3.71 MB
Format
Adobe PDF
Checksum (MD5)
7bd7ef0703c7261d09068ae86cff17e5
Author(s)
Abad-Manterola, Pablo
Edlund, Jeffrey A.
Burdick, Joel W.
Wu, Albert
Oliver, Thomas
Nesnas, Issa A. D.
Cecava, Johanna
Date Issued
December 2009
Journal
IEEE Robotics & Automation Magazine
Publisher
Institute of Electrical and Electronics Engineers
Citation
Abad-Manterola, P. et al. “Axel.” Robotics & Automation Magazine, IEEE 16.4 (2009): 44-52. © Copyright 2010 IEEE
Version
Final published version
Abstract
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.
Subjects
space robotics
search and rescue robots
sampling
extreme terrain
Field robots
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
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.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/MRA.2009.934821
