BALLET: Balloon Locomotion for Extreme Terrain

This report documents the work performed in our investigation into the BALLET (Balloon Locomotion for Extreme Terrain) concept. We focused on four areas in this Phase I effort. They were 1) identifying the science targets and objectives with the corresponding requisite instrumentation and operational capabilities that could be achieved with a BALLET mission, 2) developing an architecture for the deployment and operation of this concept for a future mission to a planetary body, 3) analyzing a parametric physical model of BALLET under the environmental conditions of Mars, Titan and Earth to determine its feasibility, and 4) developing and demonstrating coordinated control of the BALLET mobility system to enable locomotion over rugged terrain. The results of our investigations in these focus areas are documented in the following sections. A paper summarizing the preliminary results from this study has been accepted for publication and presentation at the 2019 IEEE Aerospace Conference [Nayar, 2019].