Mobility Strategy of Multi-Limbed Climbing Robots for Asteroid Exploration

Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh environments that picture extremely low gravity and highly uneven terrain. Our method plans the gait by decoupling the base and limbs' movements and adjusting the main body pose to avoid ground collisions. The proposed approach includes a motion planning that reduces the reactions generated by the robot's movement by optimizing the swinging trajectory and distributing the momentum. Lower motion reactions decrease the pulling forces on the grippers, avoiding the slippage and flotation of the robot. Dynamic simulations and experiments demonstrate that the proposed method could improve the robot's mobility on the surface of asteroids.Comment: Submitted version of paper accepted for presentation at the CLAWAR 2023 (26th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Mobility Strategy of Multi-Limbed Climbing Robots for Asteroid Exploration

Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh environments that picture extremely low gravity and highly uneven terrain. Our method plans the gait by decoupling the base and limbs’ movements and adjusting the main body pose to avoid ground collisions. The proposed approach includes a motion planning that reduces the reactions generated by the robot’s movement by optimizing the swinging trajectory and distributing the momentum. Lower motion reactions decrease the pulling forces on the grippers, avoiding the slippage and flotation of the robot. Dynamic simulations and experiments demonstrate that the proposed method could improve the robot’s mobility on the surface of asteroids

Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies

This study investigated a novel mission architecture for the systematic and affordable in-situ exploration of small Solar System bodies. Specifically, a mother spacecraft would deploy over the surface of a small body one, or several, spacecraft/rover hybrids, which are small, multi-faceted enclosed robots with internal actuation and external spikes. They would be capable of 1) long excursions (by hopping), 2) short traverses to specific locations (through a sequence of controlled tumbles), and 3) high-altitude, attitude-controlled ballistic flight (akin to spacecraft flight). Their control would rely on synergistic operations with the mother spacecraft (where most of hybrids' perception and localization functionalities would be hosted), which would make the platforms minimalistic and, in turn, the entire mission architecture affordable

Advances in Control Techniques for Floating Platform Stabilization in the Zero-G Lab

peer reviewedThe study presents a novel control approach for managing floating platforms in the unique environment of a zero-gravity laboratory (Zero-G Lab) of University of Luxembourg. These platforms are pivotal for diverse experiments and technologies in space. Our solution combines Model Predictive Control (MPC) and Proportional-Derivative (PD) control techniques to ensure precise positioning and stability. The MPC algorithm generates optimal trajectories based on predictive platform models, adjusting paths for minimal effort. Augmented by a PD controller using feedback from the Optitrack motion system, real-time adjustments maintain stability by considering platform state, position, and orientation data. Extensive simulations and experiments within the Zero-G Lab demonstrate the effectiveness of our approach. The MPC-PD strategy accurately controls platforms, making them resilient against external disturbances and human interactions. This strategy holds promise for space exploration, microgravity experiments, and beyond, offering adaptable control in zero-gravity conditions

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion

Innovative Mars Global International Exploration (IMaGInE) mission

This paper presents the conceptual design of the IMaGInE (Innovative Mars Global International Exploration) Mission whose mission objectives are to deliver a crew of four astronauts to the surface of Deimos and a robotic exploration mission to Phobos for approx-imately 343 days during the years 2031 and 2032, perform surface excursions, technology demonstrations, and In Situ Resource Utilization (ISRU) of the Martian moons as well as site reconnaissance for future human exploration of Mars. This is the winning mission design of the 2016 Revolutionary Aerospace Systems Concepts-Academic Linkage (RASC-AL) competition, awarded with the "Best in Theme," "Best Overall," and "Pio-neering Exceptional Achievement Concept Honor (PEACH)" prizes. This competition was sponsored by NIA and NASA