{"ID":2859381,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.05981","arxiv_id":"2510.05981","title":"The DISTANT Design for Remote Transmission and Steering Systems for Planetary Robotics","abstract":"Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for relocating rover traction and steering actuators from wheel-mounted positions to a thermally protected warm box within the rover body. The design addresses critical challenges in long-distance traversal missions by protecting sensitive components from thermal cycling, dust contamination, and mechanical wear. A double wishbone suspension configuration with cardan joints and capstan drive steering has been selected as the optimal architecture following comprehensive trade-off analysis. The system enables independent wheel traction, steering control, and suspension management whilst maintaining all motorisation within the protected environment. The design meets a 50 km traverse requirement without performance degradation, with integrated dust protection mechanisms and thermal management solutions. Testing and validation activities are planned for Q1 2026 following breadboard manufacturing at 1:3 scale.","short_abstract":"Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for relocating rover traction and steering actuators from wheel-mounted positions to a...","url_abs":"https://arxiv.org/abs/2510.05981","url_pdf":"https://arxiv.org/pdf/2510.05981v1","authors":"[\"Cristina Luna\",\"Alba Guerra\",\"Almudena Moreno\",\"Manuel Esquer\",\"Willy Roa\",\"Mateusz Krawczak\",\"Robert Popela\",\"Piotr Osica\",\"Davide Nicolis\"]","published":"2025-10-07T14:39:40Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"LoRA\"]","has_code":false}