相关论文: Spherical Planetary Robot for Rugged Terrain Trave…
This paper introduces two field transportation robots. Both robots are equipped with transformable wheel-leg modules, which can smoothly switch between operation modes and can work in various challenging terrains. SWhegPro, with six…
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
To simulate body organ motion due to breathing, heart beats, or peristaltic movements, we designed a low-cost, miniaturized SPRK (Stewart Platform Research Kit) to translate and rotate phantom tissue. This platform is 20cm x 20cm x 10cm to…
We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…
Landing robotic spacecrafts and humans on Mars has become one of the inevitable technological necessities for humans. Effectuating perfect Mars expedition requires landing of enormous cargoes, crewed modules, ascent vehicles, and scientific…
Robotic objects are simple actuated systems that subtly blend into human environments. We design and introduce Lantern, a minimalist robotic object platform to enable building simple robotic artifacts. We conducted in-depth design and…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
The Curiosity rover is one of the most complex systems successfully deployed in a planetary exploration mission to date. It was sent by NASA to explore the surface of Mars and to identify potential signs of life. Even though it has limited…
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…
In this report for the Nasa NIAC Phase I study, we present a mission architecture and a robotic platform, the Shapeshifter, that allow multi-domain and redundant mobility on Saturn's moon Titan, and potentially other bodies with…
The science and origins of asteroids is deemed high priority in the Planetary Science Decadal Survey. Major scientific goals for the study of planetesimals are to decipher geological processes in SSSBs not determinable from investigation…
Planetary exploration using aerial assets has the potential for unprecedented scientific discoveries on Mars. While NASA's Mars helicopter Ingenuity proved flight in Martian atmosphere is possible, future Mars rotorcraft will require…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Highly accurate models of the galaxy population over cosmological volumes are necessary in order to predict the performance of upcoming cosmological missions. We present a data-driven model of the galaxy population constrained by deep 0.1-8…
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
The search for evidence of past life on Mars presents a tremendous challenge that requires the usage of very advanced robotic technologies to overcome it. Current digital microscopic imagers and spectrometers used for astrobiological…
Active matter systems use their internal or ambient source of energy and dissipate them at the scale of individual constituent particles to generate motion. Direct measurement of the energy influx for individual particles has not been…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…