The original concept

The rough crater terrain and its different environmental extremas ( compare the task description ) outline the requirements to the CESAR ( Crater Exploration and SAmple Return ) robot: the mission scenario requires a highly mobile robot that can negotiate steep and difficult terrain and additionaly return a soil sample from the crater's bottom.

The original CESAR design study consisted of two actuated wheels, a body module holding the electronics, a tail section for sample collection, and an articulated camera head. The wheel shape enhanced off-road mobility and helped to keep the center of mass low while climbing over obstacles.

In order to negotiate steep slopes, the system was designed to be as light-weight as possible. By spreading out the ground contact points and mutually keeping the center of mass in a low position, stability on inclines was improved, while the ground clearance of the vehicle had been kept high in order to be able to overcome larger obstacles.

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Inspiration was aquired from the ASGUARD robot system developed by the DFKI, the Axle Rover system developed by the Jet Propulsion Laboratory and the Whegs Robot by the Case Western Reserve University.

The concept was quickly constructed based on the ASGUARD v1 robot chassis in order to perform first performance and locomotion tests. Based on the testing results, the concept was adjusted in order to match the prerequisites for the challenge tast even better.

First CESAR concept1 model
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The CESAR concept1 model during locomotion testing
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The CESAR robot now has its final shape after having finished the challenge.

CESAR state in the night before shipping ( click to enlarge )

CESAR state on Tenerife in challenge configuration ( click to enlarge )