Axel
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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.
Date issued
2009-12Department
Massachusetts Institute of Technology. Department of Aeronautics and AstronauticsJournal
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
Other identifiers
INSPEC Accession Number: 11019891
ISSN
1070-9932
Keywords
space robotics, search and rescue robots, sampling, extreme terrain, Field robots