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Exploring Event Camera-Based odometry for Planetary Robots

IEEE robotics AND automation LETTERS 2022年第4期7卷 8651-8658页

作者： Mahlknecht, Florian Gehrig, Daniel Nash, Jeremy Rockenbauer, Friedrich M. Morrell, Benjamin Delaune, Jeff Scaramuzza, Davide CALTECH Jet Prop Lab 4800 Oak Grove Dr Pasadena CA 91109 USA Univ Zurich Robot & Percept Grp CH-8050 Zurich Switzerland

Due to their resilience to motion blur and high robustness in low-light and high dynamic range conditions, event cameras are poised to become enabling sensors for vision-based exploration on future Mars helicopter missions. However, existing event-based visual-inertial odometry (VIO) algorithms either suffer from high tracking errors or are brittle, since they cannot cope with significant depth uncertainties caused by an unforeseen loss of tracking or other effects. In this work, we introduce EKLT-VIO, which addresses both limitations by combining a state-of-the-art event-based frontend with a filter-based backend. This makes it both accurate and robust to uncertainties, outperforming eventand frame-based VIO algorithms on challenging benchmarks by 32%. In addition, we demonstrate accurate performance in hoverlike conditions (outperforming existing event-based methods) as well as high robustness in newly collected Mars-like and high-dynamic-range sequences, where existing frame-based methods fail. In doing so, we show that event-based VIO is the way forward for vision-based exploration on Mars.

关键词： Vision-based navigation space robotics and automation visual-inertial SLAM

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Evaluation of Hopping Robot Performance With Novel Foot Pad Design on Natural Terrain for Hopper Development

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IEEE robotics AND automation LETTERS 2019年第4期4卷 3294-3301页

作者： Sakamoto, Kosuke Otsuki, Masatsugu Maeda, Takao Yoshikawa, Kent Kubota, Takashi Univ Tokyo Dept Elect Engn & Informat Syst Tokyo 1138656 Japan Japan Aerosp Explorat Agcy Inst Space & Aeronaut Sci Sagamihara Kanagawa 2525210 Japan Chuo Univ Fac Elect Elect & Commun Engn Tokyo 1128551 Japan Japan Aerosp Explorat Agcy Res & Dev Directorate Sagamihara Kanagawa 2525210 Japan

This letter presents the hopping performance evaluation on three types of terrains and novel foot pad designs for efficient traverse of hopping rovers. Hopping rovers, called Hopper, are expected to explore scientific richness areas where wheeled vehicles are hard to traverse. In order to succeed in the robotic planetary exploration, optimization and efficient designs of rovers are essential. Almost all planetary surfaces are covered with sand, called regolith, which makes hopping efficiency bad. In this letter, we discover the hopping performance on three kinds of terrains. Moreover, we also propose the method of increasing hopping performance on soft soil. Inspired by the conventional wheeled vehicle design, treads, called grouser, are installed on the bottom of the foot pad. While grousers are effective on hard ground and soft soil, they are ineffective on bilayer terrain. Bilayer means that hard ground is covered with thin regolith. And the other novel grouser shape is designed based on the soil interaction model using a multi-objective evolutionary algorithm. The proposed design improves the hopping performance on soft soil in comparison with the straight grouser.

关键词： space robotics and automation mechanism design optimization and optimal control

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Gyroscopic Tensegrity Robots

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IEEE robotics AND automation LETTERS 2020年第2期5卷 1239-1246页

作者： Goyal, Raman Chen, Muhao Majji, Maoranjan Skelton, Robert E. Texas A&M Univ Dept Aerosp Engn College Stn TX 77845 USA

Mechanics and control of innovative gyroscopic structural systems are detailed in the paper. By adding controllable spinning wheels to a network of controllable, axially loaded strings and bars, it is shown that the mobility and manipulation of the structural system are enhanced. Using principles of mechanics, a nonlinear dynamic model is presented to modulate the torque produced by the network of spatially distributed gyroscopes. Equations of motion, formulated as a second-order matrix differential equation, provide a trajectory for the nodal displacement of the bars, along with the wheel;s spin degree of freedom. While the gyroscopic robotics concept is scalable to an arbitrarily large network, this research aims to identify elemental modules to override fundamental design principles of the innovative structural systems. Dynamic simulation and experimental verification on a planar D-bar tensegrity structure are used to demonstrate the utility of one such fundamental building block of the gyroscopic robotic system.

关键词： Dynamics soft robot applications space robotics and automation

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Haptic Inspection of Planetary Soils With Legged Robots

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IEEE robotics AND automation LETTERS 2019年第2期4卷 1626-1632页

作者： Kolvenbach, Hendrik Bartschi, Christian Wellhausen, Lorenz Grandia, Ruben Hutter, Marco Swiss Fed Inst Technol Robot Syst Lab CH-8092 Zurich Switzerland

Planetary exploration robots encounter challenging terrain during operation. Vision-based approaches have failed to reliably predict soil characteristics in the past, making it necessary to probe the terrain tactilely. We present a robust, haptic inspection approach for a variety of fine, granular media, which are representative of Martian soil. In our approach, the robot uses one limb to perform an impact trajectory, while supporting the main body with the remaining three legs. The resulting vibration, which is recorded by sensors placed in the foot, is decomposed using the discrete wavelet transform and assigned a soil class by a support vector machine. We tested two foot designs and validated the robustness of this approach through the extensive use of an open-source dataset, which we recorded on a specially designed single-foot testbed. A remarkable overall classification accuracy of more than 98% could be achieved despite various introduced disturbances. The contributions of different sensors to the classification performance are evaluated. Finally, we test the generalization performance on unknown soils and show that the interaction behavior can be anticipated.

关键词： Force and tactile sensing space robotics and automation legged robots AI-based methods

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A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures

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IEEE robotics AND automation LETTERS 2024年第6期9卷 5298-5305页

作者： Muehlbauer, Maximilian Hulin, Thomas Weber, Bernhard Calinon, Sylvain Stulp, Freek Albu-Schaeffer, Alin Silverio, Joao Tech Univ Munich Sch Computat Informat & Technol Sensor Based Robot Syst & Intelligent Assistance S Garching Germany Robot & Mechatron Ctr RMC German Aerosp Ctr DLR D-82234 Wessling Germany Idiap Res Inst CH-1920 Martigny Switzerland Ecole Polytech Fed Lausanne EPFL CH-1015 Lausanne Switzerland

Virtual Fixtures (VFs) provide haptic feedback for teleoperation, typically requiring distinct input modalities for different phases of a task. This often results in vision- and position-based fixtures. Vision-based fixtures, particularly, require the handling of visual uncertainty, as well as target appearance/disappearance for increased flexibility. This creates the need for principled ways to add/remove fixtures, in addition to uncertainty-aware assistance regulation. Moreover, the arbitration of different modalities plays a crucial role in providing an optimal feedback to the user throughout the task. In this letter, we propose a Mixture of Experts (MoE) model that synthesizes visual servoing fixtures, elegantly handling full pose detection uncertainties and teleoperation goals in a unified framework. An arbitration function combining multiple vision-based fixtures arises naturally from the MoE formulation, leveraging uncertainties to modulate fixture stiffness and thus the degree of assistance. The resulting visual servoing fixtures are then fused with position-based fixtures using a Product of Experts (PoE) approach, achieving guidance throughout the complete workspace. Our results indicate that this approach not only permits human operators to accurately insert printed circuit boards (PCBs) but also offers added flexibility and retains the performance level of a baseline with carefully handtuned VFs, without requiring the manual creation of VFs for individual connectors.

关键词： Assembly space robotics and automation telerobotics and teleoperation

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An Approach to Science and Risk-Aware Planetary Rover Exploration

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IEEE robotics AND automation LETTERS 2022年第4期7卷 9691-9698页

作者： Candela, Alberto Wettergreen, David Carnegie Mellon Univ Robot Inst Pittsburgh PA 15213 USA

This work grapples with the challenge of directing autonomous decision making by planetary rovers conducting science investigations. Most of the related work addresses obstacle avoidance and traversabilty, while less work seeks to directly improve science yield. This research develops a comprehensive approach for planetary rovers that accounts for both science investigation and mobility risk. We present a probabilistic framework that quantifies these two attributes of rover exploration and generates paths that constrain risk while increasing science return. Specifically, science productivity is measured and improved using formal principles from information theory and statistical learning for decision making. Risk is estimated using a probabilistic model that predicts rover wheel slippage based on geometric and semantic information. Our method is evaluated in a simulation study using real Mars surface data that is relevant for both science and terrain investigations. Experimental analysis verifies the effectiveness of our approach.

关键词： Motion and path planning probability and statistical methods space robotics and automation

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Motion Modeling and Localization of Skid-Steering Wheeled Rover on Loose Terrain

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IEEE robotics AND automation LETTERS 2018年第4期3卷 4031-4037页

作者： Sutoh, Masataku Iijima, Yutaro Sakakieda, Yuta Wakabayashi, Sachiko Shinshu Univ Nagano 3868567 Japan Japan Aerosp Explorat Agcy Tokyo 1828522 Japan

The motion behavior of a skid-steering rover on loose terrain is modeled experimentally, and a position estimation method based on the model is proposed. Skid steering is a steering method adopted for various vehicles and robots. In this method, the vehicles steer by controlling a ratio between the rotational velocities of their left and right wheels. For controlling a skid-steering rover, whose wheels can slip on the lunar and planetary surfaces, which are covered with loose regolith, it is important to model accurately the rover's motion behaviors on loose terrain. To this end, we conducted traveling tests using a four-wheeled rover in a sand field and analyzed the motion behaviors of the rover on loose terrain. In the tests, the velocities of the rover's left and right wheels were controlled, and the rover traveled with various turning patterns. From the test datasets, we derived a mathematical model that expresses a relationship between the input and output velocities of the rover's wheels. Furthermore, the effectiveness of a position and motion estimation method based on the model was confirmed from experiments conducted in the sand field.

关键词： Field robots space robotics and automation localization

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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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Strategy Optimization for Energy Efficient Extraterrestrial Drilling Using Combined Power Map

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IEEE robotics AND automation LETTERS 2017年第4期2卷 1980-1987页

作者： Pan, Siyi Ishigami, Genya Keio Univ Sch Integrated Design Engn Yokohama Kanagawa 2238522 Japan

Extraterrestrial drilling is an important sampling method for understanding the formation of another celestial body and finding traces of life beyond earth. Currently, such tasksmainly rely on remotely controlled space robots. Because of limited energy available for space robots, it is highly demanded to improve the energy efficiency in the extraterrestrial drilling tasks. In this paper, we propose an algorithm called combined power map (CPM) method that can optimize extraterrestrial drilling strategies in order to improve energy efficiency. The algorithm comprehensively considers the effect of sampling positions, robot positions, and robotic arm configurations on drilling energy consumption and has the ability to manage the energy efficiency gain and corresponding risks. Simulations show that the CPM method can significantly reduce the drilling energy consumption and effectively limit accompanying risks.

关键词： Extraterrestrial drilling energy efficiency 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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