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Article

EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development

by
Tristan D. Hasseler
,
Carl Leake
,
Aaron Gaut
,
Asher Elmquist
,
Robert Michael Swan
,
Rob Royce
,
Bryson Jones
,
Ben Hockman
,
Michael Paton
,
Guglielmo Daddi
,
Masahiro Ono
,
Rohan Thakker
and
Abhinandan Jain
*
Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Dr., Pasadena, CA 91109, USA
*
Author to whom correspondence should be addressed.
Aerospace 2024, 11(10), 795; https://doi.org/10.3390/aerospace11100795
Submission received: 7 August 2024 / Revised: 12 September 2024 / Accepted: 24 September 2024 / Published: 27 September 2024
(This article belongs to the Special Issue Planetary Exploration)
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Abstract

EELS-DARTS is a simulator designed for autonomy development and analysis of large degree of freedom snake-like robots for space exploration. A detailed description of the EELS-DARTS simulator design is presented. This includes the versatile underlying multibody dynamics representation used to model a variety of distinct snake robot configurations as well as an anisotropic friction model for describing screw–ice interaction. Additional simulation components such as graphics, importable terrain, joint controllers, and perception are discussed. Methods for setting up and running simulations are discussed, including how a snake robot’s autonomy stack closes the commands and information loop with the simulation via ROS. Multiple use cases are described to illustrate how the simulation is used to aid and inform robot design, autonomy development, and field test use throughout the project’s life cycle. A validation analysis of the screw–ice contact model is performed for the surface mobility case. Lastly, an overview of simulation use for planning operations during a recent field test to the Athabasca Glacier in Canada is discussed.
Keywords: dynamics; simulation; robotics; exploration; rovers; mobility; contact; graphics; perception; DARTS; NASA JPL dynamics; simulation; robotics; exploration; rovers; mobility; contact; graphics; perception; DARTS; NASA JPL

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MDPI and ACS Style

Hasseler, T.D.; Leake, C.; Gaut, A.; Elmquist, A.; Swan, R.M.; Royce, R.; Jones, B.; Hockman, B.; Paton, M.; Daddi, G.; et al. EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development. Aerospace 2024, 11, 795. https://doi.org/10.3390/aerospace11100795

AMA Style

Hasseler TD, Leake C, Gaut A, Elmquist A, Swan RM, Royce R, Jones B, Hockman B, Paton M, Daddi G, et al. EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development. Aerospace. 2024; 11(10):795. https://doi.org/10.3390/aerospace11100795

Chicago/Turabian Style

Hasseler, Tristan D., Carl Leake, Aaron Gaut, Asher Elmquist, Robert Michael Swan, Rob Royce, Bryson Jones, Ben Hockman, Michael Paton, Guglielmo Daddi, and et al. 2024. "EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development" Aerospace 11, no. 10: 795. https://doi.org/10.3390/aerospace11100795

APA Style

Hasseler, T. D., Leake, C., Gaut, A., Elmquist, A., Swan, R. M., Royce, R., Jones, B., Hockman, B., Paton, M., Daddi, G., Ono, M., Thakker, R., & Jain, A. (2024). EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development. Aerospace, 11(10), 795. https://doi.org/10.3390/aerospace11100795

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