Eric T. Baumgartner

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[1] NASA's Mars Exploration Rover (MER) Mission will place a total of 20 cameras (10 per rover) onto the surface of Mars in early 2004. Fourteen of the 20 cameras are designated as engineering cameras and will support the operation of the vehicles on the Martian surface. Images returned from the engineering cameras will also be of significant importance to(More)
This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations. The primary vehicle for this work is the Field Integrated, Design and Operations (FIDO) rover. The FIDO rover is an advanced technology prototype that is a terrestrial analog of the Mars(More)
This paper describes the development o f a d v anced rover navigation and manipulation techniques for use by NASA's Sample Return Rover. These techniques include an algorithm for estimating the change in the rover's position and orientation by registering successive range maps from the rover's hazard avoidance stereo camera pair and the fusion of this(More)
Spirit is one of two rovers that landed on Mars in January 2004 as part of NASA's Mars Exploration Rover mission. As of July 2005, Spirit has traveled over 4.5 kilometers across the Martian surface while investigating rocks and soils, digging trenches to examine subsurface materials, and climbing hills to reach outcrops of bedrock. Originally designed to(More)
Planetary rovers enable good sample selection and retrieval for Mars sample return missions. After landing, the rovers search for the best possible scientific samples in the region around a lander, and they return these selected samples to an ascent vehicle that launches the samples into Mars orbit. To streamline the search for, the acquisition, and the(More)
—During Mars Exploration Rover (MER) surface operations, the scientific data gathered by the in situ instrument suite has been invaluable with respect to the discovery of a significant water history at Meridiani Planum and the hint of water processes at work in Gusev Crater. Specifically, the ability to perform precision manipulation from a mobile platform(More)
Robotic exploration of the Martian surface will provide important scientific data on planetary climate, life history, and geologic resources. In particular, robotic arms will assist in the detailed visual inspection, instrumented analysis, extraction, and earth return of soil and rock samples. To this end, we are developing new robotic manipulation concepts(More)
Generally, there are multiple sensor suites on existing rover platforms such as NASA's Sample Return Rover (SRR) and the Field Integrated Design and Operations (FIDO) rover at JPL. Traditionally, these sensor suites have been used in isolation for such tasks as planetary surface traversal. For example, although distant obstacle information is known from the(More)
We report a significant advance in space robotics design based on innovation of 3D composite structures and piezoelectric actuation. The essence of this work is development of a new all-composite robotic manipulator utilizing rotary ultrasonic motors (USM). " MarsArmII " is 40% lighter than a prior " MarsArmI " JPL design based in more massive, bulky hybrid(More)
We overview our recent research on planetary mobility. Products of this effort include the Field Integrated Design & Operations rover (FIDO), Sample Return Rover (SRR), reconfigurable rover units that function as an All Terrain Explorer (ATE), and a multi-Robot Work Crew of closely cooperating rovers (RWC). FIDO rover is an advanced technology prototype;(More)