A5022879660- Modular Robots and Swarm Intelligence
- Robotic Locomotion and Control
- Planetary Science and Exploration
- Micro and Nano Robotics
- Robotic Path Planning Algorithms
- Soil Mechanics and Vehicle Dynamics
- Space Satellite Systems and Control
- Distributed and Parallel Computing Systems
- Space Exploration and Technology
- Robot Manipulation and Learning
- Robotics and Sensor-Based Localization
- Control and Dynamics of Mobile Robots
- Indoor and Outdoor Localization Technologies
- Spaceflight effects on biology
- Smart Agriculture and AI
- Research Data Management Practices
- Real-Time Systems Scheduling
- Robotic Mechanisms and Dynamics
- Artificial Intelligence in Healthcare
- AI and Big Data Applications
- Distributed Control Multi-Agent Systems
- Robotics and Automated Systems
- Soft Robotics and Applications
- Big Data Technologies and Applications
- Flexible and Reconfigurable Manufacturing Systems
German Research Centre for Artificial Intelligence
2009-2022
Deutsches Forschungsnetz
2017
Abstract This study presents the electromechanical design, control approach, and results of a field test campaign with hybrid wheeled‐leg rover SherpaTT. The ranges in 150 kg class features an actively articulated suspension system comprising four legs driven steered wheels at each leg’s end. Five active degrees freedom are present legs, resulting 20 for complete locomotion system. approach is based on force measurements wheel mounting point roll–pitch rover’s main body, allowing adaption to...
This paper presents the multirobot team RIMRES (Reconfigurable Integrated Multirobot Exploration System), which is comprised of a wheeled rover, legged scout, and several immobile payload items. The heterogeneous systems are employed to demonstrate feasibility reconfigurable modular for lunar polar crater exploration missions. All have been designed with common electromechanical interface, allowing tightly interconnect all these single system also form new units. With different strengths...
This paper presents the control strategies used to adapt actively articulated suspension system of rover SherpaTT irregular terrain. Experimental validation approach with physical is conducted and presented. The coordinated legs constituting encapsulated in a Ground Adaption Process (GAP) that operates independently from high level motion commands. GAP makes use force orientation measurements 20 active degrees freedom. achieve multi-objective terrain adaption encompassing (i) distribution at...
This paper introduces locomotion modes for the planetary rover Sherpa <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> . The rover's system consists of four wheeled-legs, each providing a total six degrees freedom. design active suspension allows wide range posture and drive rover. Self-locking gears in allow to maintain body height without need actively driving actuators. Thus, energy-efficient wheeled at same time high flexibility...
Abstract Increasing the terrain awareness of planetary exploration rovers is one key technology for future space robotics to successfully accomplish long‐distance and long‐duration missions. In contrast most existing algorithms that use visual or depth data classification, approach presented in this study tackles problem using proprioceptive sensing, example, vibration force measurements. The underlying assumption these signals, being directly modulated by properties, are well descriptive a...
A planetary exploration rover’s ability to detect the type of supporting surface is critical successful accomplishment planned task, especially for long-range and long-duration missions. This paper presents a general approach endow robot with sense terrain being traversed. It relies on estimation motion states physical variables pertaining interaction vehicle environment. First, comprehensive proprioceptive feature set investigated evaluate informative content gather properties. Then,...
This paper presents the mechanical development and testing of a docking device for highly heterogeneous self-reconfigurable multi-module/multi-robot system. The overall system is meant to emulate robotic lunar exploration mission. device, more precisely electro-mechanical interface (EMI), an advancement reliable electromechanical connection project RIMRES. Since possible combinations roles modules in multi-robot are defined before mission, gender-principle approach with one active passive...
The work presented in this paper is part of the RIMRES <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> project. We describe design and development an electromechanical interface for combining heterogeneous modules. has a male female face allows docking 90-degree steps. developed concept guarantees secure connecting disconnecting rough environments with fine dust as existing on celestial bodies such Mars Moon. A short introduction into...
In robotic space missions, different challenges like high latency, unknown environments or bad visual conditions make it hard for the operators to plan and execute mission. We present our mission control using virtual reality remotely a sample-return in field via satellite.
Global navigation satellite systems (GNSS) are widely used for localization on Earth, but not available other planets, so that robotic planetary exploration missions need to use alternative methods localization. This paper presents a wireless network (WLN) estimating the 3D position and orientation of mobile robot. It consists at least one reference 24 GHz radar node with known pose, The nodes can determine distance both spatial angles robot (thus locating it in 3D) using round-trip time...
This paper presents a novel homogeneous power management system for heterogeneous self-reconfigurable multi-module systems consisting of active suppliers, diverse consumers and hybrids. To optimize functionality each module, concept separating from supply is proposed applied in immobile payload items which can be combined with mobile modules varying configurations autonomously. By allowing sources to connect common bus, the enhances flexibility, reusability performance modular robotic...
This paper describes the development and verification of immobile modular compatible combinable payload-items, which can serve as multi-purpose containers in future robotic missions. The core payload-item is a cube-shaped container (154 mm × 154 mm) with rigid internal frame easily detachable side panels; its main features are two electromechanical interfaces (EMIs), one on top bottom. Several payload-items were developed to realize an adaption robots according mission requirements; battery...
The planetary exploration rover Sherpa is equipped with a manipulator arm used for handling payload items as well improving its locomotive abilities. Due to the high weight of approx. 200kg and maximum item 5 kg, both applications need torques. In addition, dextrous operating space needed which has allow ground contact placement on pre-defined positions itself. this paper we describe an optimization method evolves morphology that requires minimal torques accomplish these some extent...
In this paper, the development of a docking device for self-reconfigurable multi-module system with high heterogeneity is presented. The device, more precisely electromechanical interface, used to connect mobile and immobile units each other in order provide reliable mechanical connection as well allow energy data transfer. A gender-principle approach was chosen which allows different positions. This paper focuses on design conducted experiments. Robustness against influence particles size...
This paper presents the design, functionality, and evaluation of an end-effector operating at end a 6 degree-of-freedom manipulator existing planetary rover SherpaTT. The consists active electro-mechanical interface (EMI) which has mechanical docking interface, as well power data connectors, camera primarily used for visual servoing, LED lights. ability to grapple different robotic systems change their configuration is proved under laboratory field conditions in framework heterogeneous...
This study evaluates the feasibility of a robotic exploration mission to skylight located in Marius Hills region on Moon. The is based theoretical evaluations while making use existing results from previous and currently running projects. Parts approach were already evaluated by autonomously navigating mapping lava tube other field trials analogue environments. We address solution access map lunar with semi-autonomous heterogenous team rovers. Main systems are: 1) surface rover, which serves...