Super Ball Bot - Structures for Planetary Landing and Exploration

Small, light-weight and low-cost missions will become increasingly important to NASA's exploration goals. Ideally teams of small, collapsible, light weight robots, will be conveniently packed during launch and would reliably separate and unpack at their destination. Such robots will allow rapid, reliable in-situ exploration of hazardous destination such as Titan, where imprecise terrain knowledge and unstable precipitation cycles make single-robot exploration problematic. Unfortunately landing lightweight conventional robots is difficult with current technology. Current robot designs are delicate, requiring a complex combination of devices such as parachutes, retrorockets and impact balloons to minimize impact forces and to place a robot in a proper orientation. Instead we are developing a radically different robot based on a tensegrity structure and built purely with tensile and compression elements. Such robots can be both a landing and a mobility platform allowing for dramatically simpler mission profile and reduced costs. These multi-purpose robots can be light-weight, compactly stored and deployed, absorb strong impacts, are redundant against single-point failures, can recover from different landing orientations and can provide surface mobility. These properties allow for unique mission profiles that can be carried out with low cost and high reliability (see Figure 1), and which minimizes the inefficient dependance on use once and discard mass associated with traditional landing systems. We believe tensegrity robot technology can play a critical role in future planetary exploration. Our Phase II study explored: 1) Designing an untethered hardware prototype of a tensegrity robot ball. 2) Evolutionary and Central Pattern Generator based controls allowing for directed rolling, rolling over hills, rolling over obstacles and rolling up hill. 3) Modeling and verification of landing properties under a wide range of conditions.