Space Robotics Planetary Exploration - a DLR Perspective

Abstract

Scientific exploration of planetary surface like Mars and Earth’s Moon by means of robotic devices and tools is by far more economical than by long-term manned missions, which are almost unlikely to be realized in near future. Moreover, robotic missions are the prerequisite to support and to prepare any future manned exploration mission. NASA has already successfully operated four rovers on Mars, two of them are still under operation. Also ESA will be engaged in Mars surface exploration in 2016 and 2018 by its ExoMars mission, that will bring a 300 kg rover to Mars. Germany and specifically DLR has been involved the ExoMars rover development and qualification, particularly in simulation and testing of the driving performance of this 6-wheeled rover. However, today’s rovers are lacking sufficient on-board intelligence in order to overcome longer distances, driving much faster and deciding autonomously on path planning for the best trajectory to follow. In order to increase the scientific output of a rover mission it seems very necessary to explore much larger surface areas reliably in much less time. This is the main driver for a robotics institute to combine mechatronics functionalities to develop an intelligent mobile wheeled rover with four or six wheels, and having specific kinematics and locomotion suspension depending on the operational terrain of the rover to operate. DLR's Robotics and Mechatronics Center has a long tradition in developing advanced components in the field of light-weight motion actuation, intelligent and soft manipulation and skilled hands and tools, perception and cognition, and in increasing the autonomy of any kind of mechatronic systems. Such a whole design is supported and is based upon detailed modeling, optimization, and simulation tasks. Hence, our main focus in space exploration is dedicated to the mobile and manipulative systems and their specific challenges concerning increased autonomy, safe driving and navigation in unknown and harsh surface environments, and in supporting scientific instrumentation needs by skilled and precise manipulation. This talk will reflect those key technologies we are working on, and will give several robotic mission examples we are contributing to.