Title of Presentation: Rover-arm Based Coring with Slip: Technological Development and Control Approach

Primary (Corresponding) Author: Paul Backes

Organization of Primary Author: NASA Jet Propulsion Laboratory

Co-Authors: Max Bajracharya, Daniel Helmick, Oussama Khatib, Vincent Padois, James Warren


Abstract: Technology to enable core sample acquisition from a low-mass rover on slopes is being developed. A rotary percussive coring tool was integrated onto a low-mass rover and sensing, control, and simulation technologies are being developed. Initial results indicate that coring with modest rover slippage will be feasible.