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Position Regulation of a Conductive Nonmagnetic Object With Two Stationary Rotating-Magnetic-Dipole Field Sources

IEEE TRANSACTIONS ON robotics 2024年 40卷 4635-4647页

作者： Dalton, Devin K. Tabor, Griffin F. Hermans, Tucker Abbott, Jake J. Univ Utah Robot Ctr Salt Lake City UT 84112 USA Univ Utah Dept Mech Engn Salt Lake City UT 84112 USA United States Air Force Air Force Nucl Weap Ctr Albuquerque NM 87117 USA Kahlert Sch Comp Salt Lake City UT 84112 USA NVIDIA Seattle WA 98052 USA

Eddy currents induced by rotating magnetic dipole fields can produce forces and torques that enable dexterous manipulation of conductive nonmagnetic objects. This paradigm shows promise for application in the remediation of space debris. The induced force from each rotating-magnetic-dipole field source always includes a repulsive component, suggesting that the object should be surrounded by field sources to some degree to ensure the object does not leave the dexterous workspace during manipulation. In this article, we show that it is possible to fully control the position of an object in a workspace near the midpoint between just two stationary field sources. A given position controller requires a low-level force controller. We propose two new force controllers, and compare them with the state-of-the-art method from the literature. One of the new force controllers is particularly good at not inducing parasitic torques, which is hypothesized to be beneficial for future tasks manipulating and detumbling rotating resident space objects. We perform experimental verification using numerical and physical simulators of microgravity.

关键词： Force Torque Robots Robot kinematics Magnetic fields Vectors Regulation Manipulation planning motion control space robotics and automation

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Transformable Nano Rover for space Exploration

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IEEE robotics AND automation LETTERS 2024年第4期9卷 3139-3146页

作者： Hirano, Daichi Inazawa, Mariko Sutoh, Masataku Sawada, Hirotaka Kawai, Yuta Nagata, Masaharu Sakoda, Gen Yoneda, Yousuke Watanabe, Kimitaka Japan Aerosp Explorat Agcy Res & Dev Directorate Tsukuba 3058505 Japan Japan Aerosp Explorat Agcy Space Explorat Innovat Hub Ctr Sagamihara 2525210 Japan Japan Aerosp Explorat Agcy Human Spaceflight Technol Directorate Tsukuba 3058505 Japan Sony Grp Corp Exploratory Deployment Grp Tokyo 1418610 Japan TOMY Co Ltd Technol Dev Div Tokyo 1258503 Japan Doshisha Univ Fac Life & Med Sci Kyoto 6100394 Japan

This letter introduces a novel nano rover designed to transform its shape for efficient movement on lunar surfaces. The rover, resembling a compact ball, has a diameter of roughly 80 mm and a mass around 250 g. Its transformational mechanism allows for compactness during planetary transportation, with enhanced mobility achieved through the use of extendable wheels, a tail stabilizer, and cameras. To traverse soft terrains efficiently, the rover utilizes an eccentric wheel mechanism, offering two distinct movement modes based on wheel synchronization. This mechanism provides a locomotion velocity of 20 mm/s or more on a flat surface. Moreover, it features onboard image processing to detect spacecraft shielded by Multi-Layer Insulation (MLI) films, facilitating autonomous control and selective image transmission. This rover has been deployed in a real space mission, having been mounted on a lunar lander. This letter presents the design specifics of this transformable rover and results from field tests simulating lunar conditions. These tests affirmed the efficacy of the proposed motion mechanism and onboard image processing.

关键词： space robotics and automation wheeled robots micro/nano robots computer vision for automation vision-based navigation

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Design of Wheel Grouser Geometry With Reduced Sinkage for LEV-1 Lunar Rover

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IEEE robotics AND automation LETTERS 2025年第6期10卷 5633-5640页

作者： Otsuki, Masatsugu Yoshikawa, Kent Maeda, Takao Usami, Naoto Yoshimitsu, Tetsuo Japan Aerosp Explorat Agcy Sagamihara 2525210 Japan Tokyo Univ Agr & Technol Koganei 1848588 Japan

Surface-mobile platforms have explored the moon and the red planet for nearly half century, providing a wealth of scientific data. However, surface mobility on planetary bodies remains a challenging task. In this letter, the formulation of reaction force by a grouser with a generalized geometry for a wheel of a planetary rover is presented, along with its verification through comparisons with the results by the conventional geometry. In a simulation study, the resistive force theory is applied to a general grouser geometry model. The study determines the impact of several parameters, particularly the grouser inclination, on draw-bar pull. The results obtained from the study suggest the formulation of a design for the grouser that is nearly optimal in its capacity to maximize the draw-bar pull per sinkage. We also apply the proposed geometry to the wheel on LEV-1, demonstrating that it works well in actual lunar operations.

关键词： Wheels Moon space vehicles Surface topography Soil Gravity Stress Numerical models Media Shape space robotics and automation wheeled robots dynamics

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Multi-stage warm started optimal motion planning for over-actuated mobile platforms

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INTELLIGENT SERVICE robotics 2023年第3期16卷 247-263页

作者： Paz-Delgado, Gonzalo J. Perez-del-Pulgar, Carlos J. Azkarate, Martin Kirchner, Frank Garcia-Cerezo, Alfonso Univ Malaga Dept Syst Engn & Automat Space Robot Lab Andalucia Tech Malaga 29070 Spain European Space Agcy Automat & Robot Sect NL-2201 AZ Noordwijk Netherlands DFKI Robot Innovat Ctr Robert Hooke Str 1 D-28359 Bremen Germany

This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers dynamics, nonlinearities and constraints. The proposed motion planner is based on a sequential multi-stage approach that takes advantage of the warm start on each step. Firstly, a globally optimal and smooth 2D/3D trajectory is generated using the Fast Marching Method. This trajectory is fed as a warm start to a sequential linear quadratic regulator that is able to generate an optimal motion plan without constraints for all the platform actuators. Finally, a feasible motion plan is generated considering the constraints defined in the model. In this respect, the sequential linear quadratic regulator is employed again, taking the previously generated unconstrained motion plan as a warm start. The motion planner has been deployed into the Exomars Testing Rover of the European space Agency. This rover is an Ackermann-capable planetary exploration testbed that is equipped with a robotic arm. Several experiments were carried out demonstrating that the proposed approach speeds up the computation time and increases the success ratio for a martian sample retrieval mission, which can be considered as a representative use case of goal-constrained trajectory generation for an over-actuated mobile platform.

关键词： Motion and path planning Motion control Mobile manipulation space robotics and automation

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Learning-Based End-to-End Navigation for Planetary Rovers Considering Non-Geometric Hazards

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IEEE robotics AND automation LETTERS 2023年第7期8卷 4084-4091页

作者： Feng, Wenhao Ding, Liang Zhou, Ruyi Xu, Chongfu Yang, Huaiguang Gao, Haibo Liu, Guangjun Deng, Zongquan Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China Toronto Metropolitan Univ Dept Aerosp Engn Toronto ON M5B 2K3 Canada

Autonomous navigation plays an increasingly crucial role in rover-based planetary missions. End-to-end navigation approaches developed upon deep reinforcement learning have enabled great adaptability in complex environments. However, most existing works focus on geometric obstacle avoidance thus have limited capability to cope with ubiquitous non-geometric hazards, such as sinkage and slippage. Autonomous navigation in unstructured harsh environments remains a great challenge requiring further in-depth study. In this letter, a DRL-based navigation method is proposed to autonomously guide a planetary rover towards goals via hazard-free paths with low wheel slip ratios. We introduce an end-to-end network architecture, in which the visual perception and the wheel-terrain interaction are fused to learn the representation of terrain mechanical properties implicitly and further facilitate policy learning for non-geometric hazard avoidance. Our approach outperforms baseline methods in simulation evaluation with superior avoidance capabilities against geometric obstacles and non-geometric hazards. Experiments conducted at a Mars emulation site suggest the successful deployment of our approach on a planetary rover prototype and the capacity of dealing with locomotion risks in real-world navigation tasks.

关键词： Autonomous vehicle navigation reinforcement learning space robotics and automation

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Feature-Based Scanning LiDAR-Inertial Odometry Using Factor Graph Optimization

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IEEE robotics AND automation LETTERS 2023年第6期8卷 3374-3381页

作者： Setterfield, Timothy P. Hewitt, Robert A. Espinoza, Antonio Teran Chen, Po-Ting CALTECH Jet Prop Lab Pasadena CA 91109 USA MIT Cambridge MA 02139 USA

Localization of a mobile robot in the absence of an absolute position sensor often relies on techniques such as visual or lidar-inertial odometry. While lidar has many advantages, the most capable sensors use scanning mechanisms, leading to motion-distorted scans. Previous strategies used to account for robot motion when performing state estimation and outlier rejection have drawbacks for use on highly dynamic, resource-constrained robots such as spacecraft during descent and landing. In this letter we develop a novel probabilistic factor for the inclusion of scanning lidar features, and an accompanying outlier rejection methodology. By using well-established, efficient feature tracking techniques, our image processing front end is both reliable and amenable to FPGA implementation, both of which are critical for operation on a spacecraft. We demonstrate our technique on a dataset from simulated planetary descent and landing. The results show that our system can be used to perform accurate lidar-inertial odometry, even in highly dynamic scenarios.

关键词： Laser radar Distortion Extraterrestrial measurements Feature extraction Dynamics Cameras Robot sensing systems Lidar-inertial odometry localization space robotics and automation

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spaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies

SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gr...

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IEEE International Conference on robotics and automation (ICRA)

作者： Spiridonov, Alexander Buehler, Fabio Berclaz, Moriz Schelbert, Valerio Geurts, Jorit Krasnova, Elena Steinke, Emma Toma, Jonas Wuethrich, Joschua Polat, Recep Zimmermann, Wim Arm, Philip Rudin, Nikita Kolvenbach, Hendrik Hutter, Marco ZHAW CH-8401 Winterthur Switzerland Swiss Fed Inst Technol Robot Syst Lab CH-8092 Zurich Switzerland

ISBN: (纸本)9798350384581;9798350384574

We present spaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2kg and has a body size of 245mm while using space-qualifiable components. Furthermore, spaceHopper's design and controls make it well-adapted for investigating dynamic locomotion modes with extended flight-phases. Instead of gyroscopes or fly-wheels, the system uses its three legs to reorient the body during flight in preparation for landing. We control the leg motion for reorientation using Deep Reinforcement Learning policies. In a simulation of Ceres' gravity (0.029 g), the robot can reliably jump to commanded positions up to 6m away. Our real-world experiments show that spaceHopper can successfully reorient to a safe landing orientation within 9.7deg inside a rotational gimbal and jump in a counterweight setup in Earth's gravity. Overall, we consider spaceHopper an important step towards controlled jumping locomotion in low-gravity environments.

关键词： Legged Robots space robotics and automation Engineering for Robotic Systems

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Development of a Lunar Rover Simulator with an Interface for Reinforcement Learning 9

Development of a Lunar Rover Simulator with an Interface for...

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9th International Conference on automation, Control and robotics Engineering (CACRE)

作者： Khunmaturod, Assawayut Chang, Dong Eui Korea Adv Inst Sci & Technol Sch Elect Engn Daejeon South Korea

ISBN: (纸本)9798350350319;9798350350302

In this paper, we propose an open-source lunar rover simulator integrated with a reinforcement learning framework. We incorporate lunar environmental effects in our simulator to enhance the rover locomotion realism while employing PyBullet to simulate the dynamics of a multi-degree-of-freedom planetary rover. We also extend our lunar rover simulator to interface with a reinforcement learning framework using OpenAI Gym environment and a compatible training workflow. We demonstrate the success of this integration through an autonomous rover navigation task on the lunar environment in our simulator using two reinforcement learning algorithms, DDPG and TD3. The lunar rover simulator is available at https://***/assawayut/LunarRoverSim and an accompanying video can be accessed at https://***/watch?v=8HMqAkDbpqI.

关键词： Simulation and Animation space robotics and automation Reinforcement Learning

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Attracting Conductive Nonmagnetic Objects With Rotating Magnetic Dipole Fields

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IEEE robotics AND automation LETTERS 2022年第4期7卷 11484-11491页

作者： Dalton, Devin K. Tabor, Griffin F. Hermans, Tucker Abbott, Jake J. Univ Utah Dept Mech Engn Salt Lake City UT 84112 USA Univ Utah Robot Ctr Salt Lake City UT 84112 USA Univ Utah Sch Comp Salt Lake City UT 84112 USA NVIDIA Seattle WA 98052 USA

Recent research has shown that eddy currents induced by rotating magnetic dipole fields can produce forces and torques useful for dexterous manipulation of conductive nonmagnetic objects. This control paradigm shows promise for application in the remediation of space debris. However, the resulting force from each field source always includes a repulsive component, suggesting that the object should be surrounded by field sources to some degree to ensure the object does not leave the dexterous workspace during manipulation. In this letter, we describe the ability of multiple field sources working together in a coordinated fashion to attract conductive nonmagnetic objects that are not surrounded, reminiscent of a tractor beam. This enables an object to be pulled into a dexterous manipulation workspace. We explicitly describe the nominal attractive force on spherical objects, serving as an approximation for other object geometries, as a function of the properties of the object and the field-generation system. We perform experimental verification using a water-based microgravity simulator.

关键词： space robotics and automation manipulation planning

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Challenges of SLAM in Extremely Unstructured Environments: The DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset

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IEEE robotics AND automation LETTERS 2022年第4期7卷 8721-8728页

作者： Giubilato, Riccardo Stuerzl, Wolfgang Wedler, Armin Triebel, Rudolph Inst Robot & Mechatron German Aerosp Ctr DLR D-82234 Wessling Germany Tech Univ Munich Dept Aerosp & Geodesy D-80333 Munich Germany

We present the DLR Planetary Stereo, Solid-State LiDAR, Inertial (S3LI) dataset, recorded on Mt. Etna, Sicily, an environment analogous to the Moon and Mars, using a hand-held sensor suite with attributes suitable for implementation on a spacelike mobile rover. The environment is characterized by challenging conditions regarding both the visual and structural appearance: severe visual aliasing poses significant limitations to the ability of visual SLAM systems to perform place recognition, while the absence of outstanding structural details, joined with the limited Field-of-View of the utilized Solid-State LiDAR sensor, challenges traditional LiDAR SLAM for the task of pose estimation using point clouds alone. With this data, that covers more than 4 kilometers of travel on soft volcanic slopes, we aim to: 1) provide a tool to expose limitations of state-of-the-art SLAM systems with respect to environments, which are not present in widely available datasets and 2) motivate the development of novel localization and mapping approaches, that rely efficiently on the complementary capabilities of the two sensors.

关键词： Data sets for SLAM field robots space robotics and automation

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