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Chris Leger's Picture
Address:
Jet Propulsion Laboratory
M/S T1722
4800 Oak Grove Drive
Pasadena, CA 91109
Phone:
818.393.4462
Fax:
818.393.3254
Email:
Click here
Member of:
Former JPL Robotics Personnel
FORMER MEMBER
Chris Leger, PhD
Member of Technical Staff
(Full description>>)

Biography (more>>)
Dr. Chris Leger is the Surface FSW Development Lead for the Mars Science Laboratory Mission, and is the developer for the robotic arm and motor control interface flight software. He previously worked as a rover driver and flight software developer for the Mars Exploration Rover (MER) mission, and as a mobility and motor control flight system engineer for the Mars Science Laboratory mission. On MER, he wrote flight software for the Descent Image Motion Estimation System (DIMES), manipulator collision detection, and radar and pyrotechnic device interfaces. He also designed rover mechanical hardware, developed machine vision algorithms for the MER ground data system, and worked on manipulator simulation for the MER Rover Sequencing and Visualization Program (RSVP). He has been a rover planner for Spirit since it landed and continues to develop flight software for MER. Dr. Leger received a BS in Computer Engineering and MS and PhD degrees in Robotics from Carnegie Mellon University.

Education (more>>)
BS in Electrical and Computer Engineering, Carnegie Mellon University, December 1994.
MS in Robotics, Carnegie Mellon University, May 1997.
PhD in Robotics, Carnegie Mellon University, December 1999.

Research Interests (more>>)
Planetary rover mobility, manipulation, and operations
3D computer vision

Selected Publications (more>>)

C. Leger, A. Trebi-Ollennu, J. Wright, S. Maxwell, R. Bonitz, J. Biesiadecki, F. Hartman, B. Cooper, E. Baumgartner, and M. Maimone, "Mars Exploration Rover Surface Operations: Driving Spirit at Gusev Crater," In Proceedings of the 2005 IEEE Conference on Systems, Man, and Cybernetics., October 2005.

Y. Cheng, J. Goguen, A. Johnson, C. Leger, L. Matthies, M. San Martin and R. Willson., "The Mars Exploration Rovers Descent Image Motion Estimation System.," IEEE Intelligent Systems, 19(3), May-June 2004, pp. 13-21.

A. Trebi-Ollennu, E. Baumgartner, C. Leger, and R. Bonitz., "Robotic Arm In-Situ Operations for the Mars Exploration Rovers Surface Mission," In Proceedings of the 2005 IEEE Conference on Systems, Man, and Cybernetics., .

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