| タイトル | Visual Feedback for Rover-based Coring |
| 著者（英） | Helmick, Daniel; Backes, Paul; Bajracharya, Max |
| 著者所属（英） | Jet Propulsion Lab., California Inst. of Tech. |
| 発行日 | 2008-02-26 |
| 言語 | eng |
| 内容記述 | Technology for coring from a low-mass rover has been developed to enable core sample acquisition where a planetary rover experiences moderate slip during the coring operation. A new stereo vision technique, Absolute Motion Visual Odometry, is used to measure rover slip during coring and the slip is accommodated through corresponding arm pose updating. Coring rate is controlled by feedback of themeasured force of the coring tool against the environment. Test results in the JPL Marsyard show for the first time that coring from a low-mass rover with slip is feasible. |
| NASA分類 | Lunar and Planetary Science and Exploration |
| 権利 | Copyright |
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