Outpost Assembly Using the ATHLETE Mobility System

Abstract

A planetary surface outpost will likely consist of elements delivered on multiple manifests, that will need to be assembled from a scattering of landings. Using the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) limbed robotic mobility system, the outpost site can be prepared in advance through leveling, paving, and in-situ structures. ATHLETE will be able to carry pressurized and non-pressurized payloads overland from the lander descent stage to the outpost location, and perform precision docking and assembly of components. In addition, spent descent stages can be carried to assembly locations to form elevated decks for external work platforms above the planet surface. This paper discusses several concepts that have been studied for possible inclusion in the NASA Evolvable Mars Campaign human exploration mission scenarios.