相关论文: Martian Lava Tube Exploration Using Jumping Legged…
Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…
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…
More precise lunar and Martian ranging will enable unprecedented tests of Einstein's theory of General Relativity and well as lunar and planetary science. NASA is currently planning several missions to return to the Moon, and it is natural…
Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acp{I-AUV} not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
Volcanic gas emissions are key precursors of eruptive activity. Yet, obtaining accurate near-surface measurements remains hazardous and logistically challenging, motivating the need for autonomous solutions. Limited mobility in rough…
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…
Autonomous exploration is a fundamental capability that tightly integrates perception, planning, control, and motion execution. It plays a critical role in a wide range of applications, including indoor target search, mapping of extreme…
Performing orbital insertion around Mars using aerocapture instead of a propulsive orbit insertion manoeuvre allows to save resources and/or increase the payload mass fraction. Aerocapture has never been employed to date because of the high…
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting…
The Global Exploration Roadmap indicates the need for increased human exploration of under-sampled regions of our solar system in order to make new scientific discoveries. The high costs and dangers of sending humans deeper into our solar…
Active dark flows known as recurring slope lineae have been observed on the warmest slopes of equatorial Mars. The morphology, composition and seasonality of the lineae suggest a role of liquid water in their formation. However, internal…
The Red Planet has fascinated humans for millennia, especially for the last few centuries, and particularly during the Space Age. The nagging suspicion of extant Martian life is both fed by, and drives the many space missions to Mars and…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
In this paper, a novel method is proposed to extract rocks from Martian surface images by using 8 data field. It models the interaction between two pixels of an image in the context of imagery 9 characteristics. First, foreground rocks are…
Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric representation for ground robots. The robots can use this information for…
Legged robots are being used to explore rough terrains as they are capable of traversing gaps and obstacles. In this paper, a new mechanism is designed to replicate a robotic lizard using integrated five-bar mechanisms. There are two five…
Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven…
This paper presents innovative solutions to critical challenges in planetary and deep-space exploration electronics. We synthesize findings across diverse mission profiles, highlighting advances in: (1) MARTIAN positioning systems with…