“Addressable Re-configurable Technology (ART) Tetrahedral Robotics at
Goddard Space Flight Center”

By: Richard P. Wesenberg, NASA Senior System Engineer
Friday, February 23, 2007 - 3:00 p.m., 104 VanderWerf

A 12-Tetrahedron(Tet) robot based on the NASA patented Addressable Reconfigurable Architecture(ARTS) is under development at Goddard Space Flight Center. The edge of each tetrahedron is an identical, fully modular, ART based strut that changes length as directed; a kind of 21st century erector set. Each strut is identical, possesses an independent power source, controller, and is wirelessly controlled. A 12-Tet architecture using ARTS struts will allow the shape of the robot to shape-shift so that it can grip and flow over the terrain. Self-repair is simple because of the undifferentiated ART architecture. The technology has been significantly advanced over the last several years: a 1 Tet robot has been demonstrated and a second generation 12-Tet robot has been designed, fabricated and tested. A third generation 12-Tet with a light weighted ART strut has been developed and is in test. Hope and Mercer University faculty and students have been simulating 3rd generation 12-Tet gaits using simMechanics and simulink. We are also establishing the requirements for a 3-D laser vision system, scientific instruments, communications sub-system, navigation sub-subsystem, and payload. The technology is scalable; existing designs are on the order of 1 meter in size, but we are working with the University of California, Berkeley, one of the National Science Foundation Center of Integrated Nano-mechanical Systems (COINS) centers, to design a nano-technology version 1 cm in scale and smaller. Applications for this technology presently include robots for exploration of the moon, mars and other planets. Terrestrial military applications include bomb detection, reconnaissance and search and rescue. Future applications range from large scale robot "buildings", shape-shifting space structures, down to adaptive solar sails, optical surfaces and free running nano-bots.