Showing posts with label jaluro. Show all posts
Showing posts with label jaluro. Show all posts

Saturday, February 28, 2009

Scaled WRV1 wheel design for the Jaluro lunar rover

As some people have already noticed, one of the advantages of having several competing rover designs being developed in an open-source way is that they can share common components across the designs. An example of this is Jörg's impressive wheel design for his WRV1 lunar rover prototype, which is now also available in an up-scaled version that could be used for the Jaluro lunar rover prototype.

Jaluro is the two-wheeled rover design, while WRV1 is the four-wheeled rover design that can "bend" in the middle. Consequently, Jaluro achieves static stability by moving the center of mass below the axe and therefore needs larger wheels that the WRV1 rover.

WRV1 Lunar Rover:
From WRV1: Wheeled Rover Vehicle 1






Jaluro Lunar Rover:
From Jaluro: Just Another Lunar Rover




Sounds interesting? Feel free to contribute with your ideas in the discussion forums for the Jaluro and the WRV1 lunar rover prototypes.

Saturday, February 7, 2009

Jaluro off the Leash

Let's round off this week with some breaking news about Jaluro and a story about just how crazy we are.

Jaluro is now off the leash! You may remember the first Jaluro video posted about 6 weeks ago when Tobi was making the first tests using a wired connection. Now, Jaluro has got a wireless control and Tobi recorded the video below showing his first outdoor tests using the wireless interface.

We were also happy to see some clear evidence (see NASA and Caltech Test Steep-Terrain Rover) that the two-wheeled concept is a very viable option for planetary exploration. We wish Jaluro could get the same media attention as JPL News ;-)


The evening before Tobi recorded this video, we were hanging out on our IRC channel (#teamfrednet) having some casual chats about "stuff". Suddenly, Tobi got the idea of setting Jaluro up so that Anders and myself could send commands to it from Copenhagen! Before we knew it, we were also broadcasting it live via ustream.tv so that everybody on the channel could watch Jaluro do something as we were sending commands to it. It was a crazy Thursday night that ended around 3 AM CET. You can read the IRC log here.

By the way, anybody is welcome to hang out on our IRC channel. It is #teamfrednet on irc.freenode.net or you can use a web interface (choose a real nickname instead of mib_***).

I'll be back next week with more crazy news.

Thursday, January 22, 2009

Two-wheel robot shoots for the Moon

It has been brought to my attention that in addition to the Ask Charlie Blog there is also an article in Control Engineering about Team FREDNET, JALURO , and the Google Lunar X PRIZE in general. You can read the article online here.

Ask Charlie: Is it possible to stabilize a 2-wheel robotic vehicle?

Yes, it's about JALURO :-)
Charlie Masi from Control Engineering blogged about our 2-wheel rover prototype and the control challenges we are faced with. While the 2-wheel setup with underslung chassis is statically stable, the pendulum-like properties make it difficult to keep the rover body stable during acceleration and deceleration. You can read the blog post, which also contains an analysis, on the Control Engineering website.

For the sake of completeness, I've included the video showing JALURO's first test drive (this was already posted back in December 2008).

Tuesday, January 6, 2009

One rover, two rovers... many rovers?

If you have followed Team FREDNET during the last few months you have probably noticed that our team members are working on two very different rover designs. Why do we develop several designs instead of focusing our efforts on the design?

The thing is that we are trying to build up a large and engaged community and there are many ways to do it. We have chosen a way where instead of expecting everybody to support one official design line we invite and encourage people to work on their own ideas and demonstrate that it provides the best solution for a given problem. Using our public forum and wiki they can collaborate with other members of the team and share common components across the competing designs. They may even find other members who support their idea and would like to contribute to it. They can organize themselves in informal working groups without the need for any official approval from the team management.

While this may not be the most efficient way towards winning the Google Lunar X PRIZE, we are sure that this is one of the best ways to engage interested individuals and groups and give them a fair chance to prove what they are capable of. Basically, it is the same concept as the whole Google Lunar X PRIZE but applied at a smaller scale.

Currently we have this parallel design study/competition concept going on in the rover area, but we expect similar parallel design studies applied to other subsystems as well. If the organizational concept works out, we can at the end choose the most suitable configuration. It also provides additional security against making the wrong design decisions early in the process and suffering from it for the rest of the program.


The two rover concepts currently being worked on at Team FREDNET: WRV1 (left) and Jaluro (right).


Of course, turning an idea into a design and implementation that can prove suitable for a lunar mission requires hard work and stamina. There is a very long way from a conceptual design to a working prototype. Fortunately, we have many active members who has the right stuff to take their ideas all the way to the end.

You can read more about our rover design competition Moon amateurs invite rover designs from the public.

What are your thoughts about this? Will it work or will it leave us in a hopeless situation? We'd love to hear your comments.

Tuesday, December 23, 2008

Jaluro's First Test Drive

Tobi promised that Jaluro will drive before Christmas '08 and so here it is.

Sunday, December 21, 2008

Jaluro v0.1 ready to rock and roll

If you happen to live in Vienna, Austria, you better watch out on the streets because Jaluro v0.1 is ready to rock and roll. Here are some fresh photos and stay tuned for a video of Jaluro v0.1 in action!




Jaluro prototype chassis and wheel support.


Tobi and son cutting out the wheels for Jaluro.
When we say anybody can help us we really mean it :-)


Jaluro v0.1 ready to rock and roll!


Side view of the mock-up.


Jaluro v0.1 in action.


Drive by wire :-)

Sunday, November 30, 2008

Motors and gears for Jaluro

Maxon motors and gears for Jaluro. Maxon motors and gears were also used by NASA during the Phoenix mission on Mars.

Friday, November 14, 2008

Jaluro: Just Another Lunar Rover

One of the great things about having an open source community like ours is that members are free to work on their own ideas and concepts. They can form groups to study and explore the various ideas and concepts. At the same time the lessons learned are shared with the rest of the community.

Jaluro - Just Another Lunar Rover - is a two-wheeled rover concept by Tobias Krieger from Team FREDNET. Within a few weeks Jaluro evolved from an idea into a conceptual design and now there is very active development on the prototype for this rover. Thanks to the community, there are always good ideas and discussions on our forum. Everybody is welcome to join the Jaluro development!

Jaluro wiki portal: http://wiki.xprize.frednet.org/index.php/Portal:Jaluro
Jaluro discussions: http://forum.xprize.frednet.com/viewtopic.php?t=340