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LASSIE: Legged Autonomous Surface Science In Analogue EnvironmentsRoving planetary surface exploration missions operate using a pre-programmed plan that can limit the capability to effectively detect unexpected changes in terrain properties, adjust locomotion or sampling strategies, and autonomously identify scientifically valuable observations and adjust exploration strategies. In particular, the inability to measure and react to unexpected changes in regolith properties can negatively impact mission operations. The Mars Exploration Rover Spirit and InSight lander both experienced challenges related to understanding the geotechnical properties of regolith. The advancements in legged robotic platforms hold potential to address these challenges through greater sensitivity to changing surface properties. The Legged Autonomous Surface Science In Analogue Environments (LASSIE) project explores how legged roving platforms can use the leg motors to measure geotechnical properties of crusted and icy surface regolith and utilize those measurements to autonomously update the science operations plans. These tests will be performed in martian and lunar analog environments and also within lab settings.
Document ID
Acquisition Source
Johnson Space Center
Document Type
Conference Paper
K. R. Fisher
(Johnson Space Center Houston, Texas, United States)
F. Qian
(University of Southern California Los Angeles, California, United States)
D. Jerolmack
(University of Pennsylvania Philadelphia, Pennsylvania, United States)
F. Rivera-Hernandez
(Georgia Institute of Technology Atlanta, Georgia, United States)
C. Wilson
(Oregon State University Corvallis, Oregon, United States)
R.C. Ewing
(Texas A&M University College Station, Texas, United States)
M. Nachon
(Texas A&M University College Station, Texas, United States)
T. Shipley
(Temple University Philadelphia, Pennsylvania, United States)
D. Koditschek
(University of Pennsylvania Philadelphia, Pennsylvania, United States)
Date Acquired
January 9, 2023
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Structural Mechanics
Meeting Information
Meeting: 54th Lunar and Planetary Science Conference
Location: The Woodlands, TX
Country: US
Start Date: March 13, 2023
End Date: March 17, 2023
Sponsors: Universities Space Research Association, Lunar and Planetary Institute
Funding Number(s)
Distribution Limits
Portions of document may include copyright protected material.
Technical Review
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