Jack Lightholder

Barefoot Rover: a Sensor-Embedded Rover Wheel Demonstrating In-Situ Engineering and Science Extractions using Machine Learning

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…