A5029938965- Astro and Planetary Science
- Planetary Science and Exploration
- Space Satellite Systems and Control
- Modular Robots and Swarm Intelligence
- Robotics and Sensor-Based Localization
- Robotic Path Planning Algorithms
- Robot Manipulation and Learning
- Space Exploration and Technology
- Real-Time Systems Scheduling
- Magnetic Bearings and Levitation Dynamics
- Spacecraft Design and Technology
- Distributed systems and fault tolerance
- Robotic Locomotion and Control
- Geological and Geochemical Analysis
- Mechatronics Education and Applications
- Electric Motor Design and Analysis
- Robotics and Automated Systems
- Embedded Systems Design Techniques
- Spacecraft Dynamics and Control
- Robotic Mechanisms and Dynamics
- Astrophysics and Star Formation Studies
- Spacecraft and Cryogenic Technologies
- Prosthetics and Rehabilitation Robotics
- Isotope Analysis in Ecology
- Real-time simulation and control systems
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2011-2024
Friedrich-Alexander-Universität Erlangen-Nürnberg
2010
An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development put on robustness, dynamic performance dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints robots intrinsic compliance carried out. Collisions the rigid joint robot high speeds with objects induce energy too fast for an active controller...
Landing on the surface of Ryugu In October 2018, Hayabusa2 spacecraft dropped Mobile Asteroid Surface Scout (MASCOT) lander onto asteroid (162173) Ryugu. Jaumann et al. analyzed images taken by MASCOT camera during its descent and when resting surface. Colored light-emitting diodes were used to illuminate lander's surroundings at night produce color images. Ryugu's is dominated two types rock, but there no evidence for fine-grained dust. Millimeter-sized inclusions in rocks are similar those...
Teams of mobile robots will play a crucial role in future missions to explore the surfaces extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive tasks when operating distant, challenging, unknown environments. In contrast current single-robot space missions, heterogeneous robotic teams increase efficiency via enhanced autonomy parallelization, improve robustness functional redundancy, as well benefit from complementary capabilities individual robots....
Planetary exploration poses many challenges for a robot system: From weight and size constraints to extraterrestrial environment conditions, which constrain the suitable sensors actuators. As distance other planets introduces significant communication delay, efficient operation of system requires high level autonomy. In this work, we present our Lightweight Rover Unit (LRU), small agile rover prototype that designed planetary exploration. Its locomotion with individually steered wheels...
The Earth's moon is currently an object of interest many space agencies for unmanned robotic missions within this decade. Besides future prospects building lunar gateways as support to human flight, the Moon attractive location scientific purposes. Not only will its study give insight on foundations Solar System but also location, uncontaminated by ionosphere, represents a vantage point observation Sun and planetary bodies outside System. Lunar exploration has been traditionally conducted...
The task of planetary exploration poses many challenges for a robot system, from weight and size constraints to sensors actuators suitable extraterrestrial environment conditions. In this work, we present the Light Weight Rover Unit (LRU), small agile rover prototype that designed exploration. Its locomotion system with individually steered wheels allows high maneuverability in rough terrain application stereo cameras as its main sensor ensures applicability space missions. We implemented...
MMX (Martian Moons eXploration) is a robotic sample return mission of JAXA (Japan Aerospace Exploration Agency), CNES (Centre National d' Etudes Spatiales), and DLR (German Center) with the launch planed for 2024. The aims to answer question origin Phobos Deimos, which will also help understand material transport in earliest period our solar system, how was water brought Earth. Besides JAXA's mothership, responsible sampling Earth, small rover built by land on in-situ measurements, similar...
This paper presents a new method for sensorless control of permanent magnet synchronous machines (PSM) in low speed and standstill region. Actually, there exist many solutions controlled applications via interpretation the voltage equations PSM. There are some well known algorithms to handle operation up standstill, too. Most these methods use high frequency signal kind filter technique demodulation. In this domain based algorithm is proposed. The main advantage strategy precise separation...
Access to extreme terrain, like caves or craters, is a key challenge for future planetary exploration robots. Many experimental robotic systems either use innovative locomotion concepts elaborate mission designs explore more challenging terrain. However, this requires highly-specialized task-specific robot design, limiting the scope of robot's general application. We investigate an alternative approach, by enabling existing team rover crater as additional opportunistic task. The rovers...