A Wheel-On-Limb Rover for Lunar Operations

摘要

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) is a new mobility platform developed for potential lunar operations. This six limbed rover is designed to traverse quickly over benign terrain by rolling, traverse rough and steep terrain by walking, as well as perform general manipulation of tools and payloads. This flexible robotic platform will provide a mobile base for pressurized lunar habitats allowing for long range surface exploration and crew transport. It will also enable in-situ construction of lunar assets providing astronauts with the ability to assemble, maintain, and service a wide range of cargo. This paper presents the design details and capabilities of this wheel-on-limb platform.