Barefoot Rover: a Sensor-Embedded Rover Wheel Demonstrating In-Situ Engineering and Science Extractions using Machine Learning
Yuliya Marchetti,Jack Lightholder,Eric Junkins,Matthew Cross,Lukas Mandrake,Abigail Fraeman,Yuliya Marchetti,Jack Lightholder,Eric Junkins,Matthew Cross,Lukas Mandrake,Abigail Fraeman
In this work, we demonstrate an instrumented wheel concept which utilizes a 2D pressure grid, an electrochemical impedance spectroscopy (EIS) sensor and machine learning (ML) to extract meaningful metrics from the interaction between the wheel and surface terrain. These include continuous slip/skid estimation, balance, and sharpness for engineering applications. Estimates of surface hydration, tex...
