Related papers: MoonBot: Modular and On-Demand Reconfigurable Robo…
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to different environments and tasks. These modular…
This document presents the study conducted during the European Moon Rover System Pre-Phase A project, in which we have developed a lunar rover system, with a modular approach, capable of carrying out different missions with different…
Establishing lunar infrastructure is paramount to long-term habitation on the Moon. To meet the demand for future lunar infrastructure development, we present CraterGrader, a novel system for autonomous robotic earthmoving tasks within…
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…
Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
In recent years, the Moon has emerged as an unparalleled extraterrestrial testbed for advancing cuttingedge technological and scientific research critical to enabling sustained human presence on its surface and supporting future…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
This paper presents CONCERT, a fully reconfigurable modular collaborative robot (cobot) for multiple on-site operations in a construction site. CONCERT has been designed to support human activities in construction sites by leveraging two…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
In this paper, a control approach called Artificial Neural Tissue (ANT) is applied to multirobot excavation for lunar base preparation tasks including clearing landing pads and burying of habitat modules. We show for the first time, a team…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
In an era marked by renewed interest in lunar exploration and the prospect of establishing a sustainable human presence on the Moon, innovative approaches supporting mission preparation and astronaut training are imperative. To this end,…
Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find…
Robot dogs are receiving increasing attention in various fields of research. However, the number of studies investigating their potential usability on construction sites is scarce. The construction industry implies several human…
This paper presents a modular, reconfigurable robot platform for robot manipulation in agriculture. While robot manipulation promises great advancements in automating challenging, complex tasks that are currently best left to humans, it is…
Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previous hardware-agnostic actuator synchronization in Motion…
The European Moon Rover System (EMRS) Pre-Phase A activity is part of the European Exploration Envelope Programme (E3P) that seeks to develop a versatile surface mobility solution for future lunar missions. These missions include: the Polar…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
We envision an integrated process for developing lunar construction equipment, where physical design and control are explored in parallel. In this paper, we describe a technical framework that supports this process. It relies on OpenPLX, a…