Seismic TETwalker mobile robot design and modeling

Abstract

The Center of Remote Sensing of Ice Sheets (CReSIS) is studying the use of the TETwalker mobile robot developed by NASA/Goddard Space Flight Center for polar seismic data acquisition. This paper discusses the design process for deploying seismic sensors within the 4-TETwalker mobile robot architecture. The 4-TETwalkerpsilas center payload node was chosen as the deployment medium. An alternative method of deploying seismic sensors that rest on the surface is included. Detailed models were also developed to study robot mobility dynamics and the deployment process. Finally, potential power options of solar sheaths and harvesting vibration energy are proposed.