21 papers
Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning
Ashutosh Mishra, Elian Neppel, Shreya Santra +4
Modular reconfigurable robotic systems provide a scalable solution for cooperative surface operations in future lunar missions. However, cooperative cargo transportation remains ch…
A Pin-Array Structured Climbing Robot for Stable Locomotion on Steep Rocky Terrain
Keita Nagaoka, Kentaro Uno, Kazuya Yoshida
Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbi…
LIMBERO: A Limbed Climbing Exploration Robot Toward Traveling on Rocky Cliffs
Kentaro Uno, Masazumi Imai, Kazuki Takada +7
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven…
Assembling Solar Panels by Dual Robot Arms Towards Full Autonomous Lunar Base Construction
Luca Nunziante, Kentaro Uno, Gustavo H. Diaz +3
Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on buil…
Data-Driven Terramechanics Approach Towards a Realistic Real-Time Simulator for Lunar Rovers
Jakob M. Kern, James M. Hurrell, Shreya Santra +3
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on ei…
Design and Development of Modular Limbs for Reconfigurable Robots on the Moon
Gustavo H. Diaz, A. Sejal Jain, Matteo Brugnera +4
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling ad…