相关论文: The Shapeshifter: a Morphing, Multi-Agent,Multi-Mo…
In this paper 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 atmospheres. The Shapeshifter is a collection…
This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…
NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located in permanently shadowed regions, which can provide drinking…
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This,…
In response to ESA Voyage 2050 announcement of opportunity, we propose an ambitious L-class mission to explore one of the most exciting bodies in the Solar System, Saturn largest moon Titan. Titan, a "world with two oceans", is an…
The exploration of asteroids and comets is important in the quest for the formation of the Solar System and it is an important step for human space travel. Moving on the surface of asteroids is challenging for future robotic explorers due…
The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating…
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…
This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with…
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…
We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter…
The Cassini-Huygens mission has transformed our understanding of Titan from a hazy veiled moon to a place surprisingly like the Earth, with terrestrial physical processes such as wind, rainfall, and erosion shaping the landscape albeit with…
In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its longitudinal direction with two passive wheels on both sides.…
Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging…
We present a design, model, and control for a novel jumping-flying robot that is called PogoDrone. The robot is composed of a quadrotor with a passive mechanism for jumping. The robot can continuously jump in place or fly like a normal…