M. Desch

Publications (2)0.3 Total impact

• Source

  Available from: mit.edu

  Article: Tetrahedral Robotics for Space Exploration

  S. Curtis, M. Brandt, G. Bowers, G. Brown, C. Cheung, C. Cooperider, M. Desch, N. Desch, J. Dorband, K. Gregory, [......], W. Truszkowski, R. Wesenberg, J. Vranish, M. Abrahantes, P. Clark, T. Capon, M. Weaker, R. Watson, P. Olivier, M.L. Rilee
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  ABSTRACT: A reconfigurable space filling robotic architecture has a wide range of possible applications. One of the more intriguing possibilities is mobility in very irregular and otherwise impassable terrain. NASA Goddard Space Flight Center is developing the third generation of its addressable reconfigurable technology (ART) tetrahedral robotics architecture. An ART-based variable geometry truss consisting of 12 tetrahedral elements made from 26 smart struts on a wireless network has been developed. The primary goal of this development is the demonstration of a new kind of robotic mobility that can provide access and articulation that complement existing capabilities. An initial set of gaits and other behaviors are being tested, and accommodations for payloads such as sensor and telemetry packages are being studied. Herein, we describe our experience with the ART tetrahedral robotics architecture and the improvements implemented in the third generation of this technology. Applications of these robots to space exploration and the tradeoffs involved with this architecture will be discussed.
  IEEE Aerospace and Electronic Systems Magazine 07/2007; · 0.30 Impact Factor
• Conference Proceeding: Mobile science platforms for impassable terrain

  S.A. Curtis, M. Brandt, G. Bowers, G. Brown, C. Cheung, M. Desch, N. Desch, J. Dorband, K. Lee, A. Lunsford, N. Shur, R. Wesenberg, M.L. Rilee, P. Clark, R. Watson
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  ABSTRACT: Some of the most scientifically interesting terrain is among the most inaccessible, presenting problems for all mobility strategies. Lava flows, for example, can have structure at all scale sizes rendering traversal via appendage or wheel difficult at best. NASA researchers have been developing an innovative mechanical structure that provides mobility in terrain unnavigable by wheeled or even legged vehicles. We are developing a mobile science platform (MSP) that is completely symmetric, with neither top nor bottom, so that it cannot fall down and fail to get up. The MSP actively navigates its environment to place its payload or gathers samples in places otherwise unreachable, e.g., the lunar highlands or rugged volcanic terrains on Mars
  Aerospace Conference, 2006 IEEE;