18 citations · 77 across the 34 of their papers we have counts for
11 papers · 1 filter
Path-Following Control and Terramechanics Analysis for Planetary Rovers Under Wheel-to-Wheel Traction Asymmetry
Ryuya Matsuoka, Keisuke Takehana, Kentaro Uno +2
This paper proposes a control strategy for path following that is model-free and relies solely on deceleration for skid-steering planetary rovers navigating deformable loose terrai…
Graph-Based Simultaneous Path and Foothold Planning for Multi-Limbed Intra-Vehicular Robots in Space Stations
Masazumi Imai, Kentaro Uno, Toshinori Kuwahara +1
Robot-aided operations in space stations are essential for reducing the workload of astronauts and improving the efficiency of on-orbit activities. Multi-limbed intra-vehicular rob…
Robot-Assisted Deployment and Maintenance of Inflatable Modules for Lunar Habitation: A Field Demonstration
Kentaro Uno, Shamistan Karimov, Ashutosh Mishra +5
Long-term human habitation and in-situ development on the Moon open a new era of space utilization. In this context, robots are a key technology for facilitating the construction o…
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…
A Pin-Array Structure for Gripping and Shape Recognition of Convex and Concave Terrain Profiles
Takuya Kato, Kentaro Uno, Kazuya Yoshida
This paper presents a gripper capable of grasping and recognizing terrain shapes for mobile robots in extreme environments. Multi-limbed climbing robots with grippers are effective…
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…
Discrete Fourier Transform-based Point Cloud Compression for Efficient SLAM in Featureless Terrain
Riku Suzuki, Ayumi Umemura, Shreya Santra +2
Simultaneous Localization and Mapping (SLAM) is an essential technology for the efficiency and reliability of unmanned robotic exploration missions. While the onboard computational…
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…