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MANTIS - A Robot With Advanced Locomotion And Manipulation Abilities

Marc Manz; Sebastian Bartsch; Frank Kirchner
In: Proceedings of the 12th Symposium on Advanced Space Technologies in Robotics and Automation. ESA/Estec Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA-2013), 12th, May 15-17, Noordwijk, Netherlands, 5/2013.


We present in this paper the specifications and design of a multi-legged robot with manipulation abilities for extraterrestrial surface exploration activities. The paper contains a brief description of the project LIMES as well as the major goals therein. The underlying methods of identifying system requirements are then described , including the envisaged mission scenario, resulting requirement lists and semantic graphs depicting dependencies. Included in this is the evaluation of different concepts with respect to varying criteria. A description of the functional principles and components is provided with regard to the merits of chosen forms of actuation, planned sensors, electronic devices and structural materials. Finally, a brief overview of how the system is to be realized is given as well as a description of the most important key technologies and components.