The DOI matches its Crossref record.
Mars Exploration Rover Mobility Assembly Design, Test and Performance
Abstract
In January 2004, NASA landed two mobile robotic spacecraft, or rovers, on opposite sides of the planet Mars. These rovers, named Spirit and Opportunity, were each sent on their own scientific mission of exploration. Their objective was to work as robotic geologists. After more than a year the vehicles are still in excellent health, and returning vast amounts of scientific information on the ancient water processes that helped form Mars. Key to the success of the rovers was the development of their advanced mobility system. In this paper the mobility assembly, the mechanical hardware that determines the vehicles mobility capability, is described. The details of the design, test, and performance of the mobility assembly are shown to exceed the mission requirements. The rovers' ability to traverse the Mars terrain with its combination of rocks, craters, soft soils, and hills was verified, and the system design validated.
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Research works printed but not linked: 8
- bickler, 1998, Roving over Mars, ME Magazine American Society of Mechanical Engineers
- 10.1126/science.1106171 · DOI
- harrington, 2004, The Challenges of Designing the Rocker-Bogie Suspension for the Mars Exploration Rover, proc 37th Aerospace Mechanisms Symposium, 19
- lindemann, 1999, Mobility Sub-System for the Exploration Technology Rover, Proc 33rd Aerospace Mechanisms Symp, 115
- 10.1126/science.1104211 · DOI
- 10.1126/science.1099922 · DOI
- squyres, 2004, The Spirit Rover's Athena Science Investigation at Gusev Crater, Mars, Science, 305, 794, 10.1126/science.3050794 · DOI · Paper page
- 10.1038/scientificamerican0304-52 · DOI
Cited by
Sorted by citations
Two years of Visual Odometry on the Mars Exploration Rovers
Maimone, M., Cheng, Y., & Matthies, L. (2007) · Journal of Field Robotics · doi:10.1002/rob.20184 · Cited by 655
Terrain Adaptive Navigation for Planetary Rovers
Helmick, D., Angelova, A., & Matthies, L. (2009) · Journal of Field Robotics · doi:10.1002/rob.20292 · Cited by 103
Metadata
- Authors
- Lindemann, R. A., & Voorhees, C. J.
- Affiliations
- California Institute of Technology (US)
- Venue
- 2005 IEEE International Conference on Systems, Man and Cybernetics
- Publisher
- IEEE
- Published
- 2006-01-18
- Volume
- 1
- Pages
- 450-455
- ISSN
- 1062-922X (ISSN-L)
- OpenAlex
- W1544042259
- Cited by
- 199
- References
- 0
- Citations by year
- 2026: 3 · 2025: 19 · 2024: 12 · 2023: 11 · 2022: 14 · 2021: 10 · 2020: 13 · 2019: 9 · 2018: 10 · 2017: 9 · 2016: 10 · 2015: 10 · 2014: 11 · 2013: 12 · 2012: 8
- FWCI
- 33.01
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Conference proceedings/Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics (publishedVersion)
- Funders
- Jet Propulsion Laboratory
- Topics
- Physical Sciences › Engineering › Automotive Engineering › Soil Mechanics and Vehicle Dynamics
- Physical Sciences › Earth and Planetary Sciences › Space and Planetary Science › Planetary Science and Exploration
- Physical Sciences › Engineering › Aerospace Engineering › Spacecraft Design and Technology
- Keywords
- Mars Exploration Rover, Spirit rover, Opportunity rover, planetary rovers
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