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Title: Visual feedback for rover-based coring
Authors: Backes, Paul
Helmick, Daniel
Bajracharya, Max
Keywords: rovers
Issue Date: 26-Feb-2008
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2008.
Citation: 9th Int'l Symposium on Artificial Intelligence, Robotics and Space (iSAIRAS), Los Angeles, California, February 26, 2008.
Abstract: Technology for coring from a low-mass rover has been developed to enable core sample acquisition where a planetary rover experiences moderate slip during the coring operation. A new stereo vision technique, Absolute Motion Visual Odometry, is used to measure rover slip during coring and the slip is accommodated through corresponding arm pose updating. Coring rate is controlled by feedback of the measured force of the coring tool against the environment. Test results in the JPL Marsyard show for the first time that coring from a low-mass rover with slip is feasible
Appears in Collections:JPL TRS 1992+

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