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Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in complex tasks such as monitoring and exploring different…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Through multiple, small unmanned probes we can more efficiently capture an asteroid and return it to lunar orbit. The Asteroid Return and Exploration System (ARES) aims to make use of previously tested technology with the application of a…
The ability to launch small secondary payloads to Mars on future science missions present an exciting opportunity for demonstration of advanced technologies for planetary exploration such as aerocapture. Over the years, several aerocapture…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
Bipedal robots are a fascinating and advanced category of robots designed to mimic human form and locomotion. The development of the bipedal robots is a significant milestone in robotics. However, even the most advanced bipedal robots are…
Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the…
Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution discusses how current state-of-the-art Earth-based testing for…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Virtual locomotion remains a challenge in VR, especially in space-limited environments where room-scale walking is impractical. We present LocoScooter, a low-cost, deployable locomotion interface combining foot-sliding on a compact…
There are thousands of asteroids in near-Earth space and millions in the Main Belt. They are diverse in physical properties and composition and are time capsules of the early solar system. This makes them strategic locations for planetary…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental…
This paper presents an orbit estimation using non-simultaneous horizon detector measurements in the presence of uncertainties in the celestial body rotational velocity and its geometrical characteristics. The celestial body is modelled as a…
This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an untethered shape morphing robot capable of changing its…
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…
We advocate a low-cost strategy for long-duration research into the 'milligravity' environment of asteroids, comets and small moons, where surface gravity is a vector field typically less than 1/1000 the gravity of Earth. Unlike the…
Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…