mars-jo quadruped rover: hybrid ai-based driving and walking spider rover for mars exploration
- Paper number
IAC-24,A3,IP,70,x85053
- Author
Mr. Karam Khrais, Jordan
- Coauthor
Ms. Diaa Al-Zghoul, Jordan
- Coauthor
Mr. Saif Khafajah, IEEE member, Jordan
- Coauthor
Mr. Malik Salameh, Jordan University of Science & Technology, Jordan
- Coauthor
Mr. Haitham Ghaith, Jordan
- Coauthor
Ms. Tasneem Saleh, Jordan
- Coauthor
Mr. Khalid Barham, Jordan
- Coauthor
Mr. Qutaiba Ananzeh, Jordan
- Year
2024
- Abstract
Our paper introduces the AI-Based "MARS-JO Quadruped Rover", a groundbreaking robotic platform engineered specifically for Martian exploration. The rover will undergo analog mission training in Wadi Rum, Jordan, preparing it for future expeditions in Mars-like terrains. This innovative rover features a unique quadruped-shaped chassis with 26 brushed DC motors, enabling unparalleled mobility across diverse terrains. Complementing its locomotion capabilities, the rover boasts a sophisticated 6-DOF robotic arm with a lead screw gripper, facilitating sample manipulation and collection. The analog "MARS-JO Quadruped Rover" involves the collection of valuable data through the measurement of gas levels, along with the gathering and storage of rock and sand samples. This data acquisition process is complemented by sophisticated object detection, image processing, and comprehensive data analysis techniques applied to images captured by the rover's camera system including night vision, which offers versatile perspectives, including a 360-degree view. Additionally, the rover is equipped with an intelligent interface designed to streamline locomotion and enable real-time presentation of analyzed data. This interface leverages the capabilities of In-Situ Resource Utilization (ISRU) on Mars, ensuring efficient utilization of resources for mission success. With dimensions of 2400mm * 2400mm * 1250mm in its standard pose and a mass of 200 Kg, the MARS-JO Quadruped Rover prioritizes efficiency without compromising functionality. Its robust electronic infrastructure includes custom-made PCBs crafted for its specific requirements. Our rover architecture comprises three primary PCBs: the Remote Controller, the Sensors, and the main microcontrollers PCBs. Additionally, it features 26 smaller PCBs, each integrating a motor driver to ensure precision in motor control and overall system reliability. Within this rover setup, seven microcontrollers with varying models are interconnected via CAN BUS, alongside two microcomputers interconnected via Wi-Fi. Constructed with precision, the "MARS-JO Quadruped Rover" results from collaborative efforts at the Orange Fabrication Lab in Irbid, Jordan, led by a team of dedicated university students. As we push the boundaries of planetary exploration, the Quadruped Rover stands poised to revolutionize our understanding of Mars.
- Abstract document
- Manuscript document
(absent)