Space Missions Engineering Laboratory
Planetary Vehicles
Rovers for planetary exploration are autonomous robots which need to be designed respecting constraints which impose the compatibility of both the mechanical, typically related to the locomotion on rough terrain, and system design with the harsh environment of other planets. Our research in this field has brought to the realization of two kind of prototypes of vehicles used to test autonomous navigation.
The first kind of prototype developed, called CASIMIRO, is characterized by a six independent wheel configuration. In this configuration the six wheels are independently actuated with electrical motors embedded in the wheel design and can be independently steered. The prototype is equipped with an autonomous power subsystem which provides the power for motors, cameras, CPU and payloads with solar array and Li-ion batteries.
The second prototype developed, NE.ME.SYS, is based on a six legged configuration, mimicking insects. Each leg is characterized by 3 degree of freedom actuated by 3 electrical motors embedded in the leg segments design. This prototype allows to test advanced control techniques of the actuators to coordinate the legs to produce a walking motion.
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