The interest in exploring planetary bodies for scientific investigation and in situ resource
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …

In this article, we show that learned policies can be applied to solve legged locomotion
control tasks with extensive flight phases, such as those encountered in space exploration …

Parallel-elastic joints can improve the efficiency and strength of robots by assisting the
actuators with additional torques. For these benefits to be realized, a spring needs to be …

In this paper, a parallel quadrupedal robot was designed that is capable of versatile dynamic
locomotion and perception-less terrain adaptation. Firstly, a quadrupedal robot with a …

Jumping locomotion has the potential to enable legged robots to overcome obstacles and
travel efficiently on low-gravity celestial bodies. We present how the 22 kg quadruped robot …

Planetary exploration robots encounter challenging terrain during operation. Vision-based
approaches have failed to reliably predict soil characteristics in the past, making it necessary …

Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a
notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we present …

While being extensively researched in literature, overconstrained linkages' engineering
potential is yet to be explored. This study investigates the design of overconstrained …

This document presents an assisted operation system of a robotic arm for positioning near
an explosive device selected by the user through the visualization of the cameras on the …

In this article, the mechanical design and analysis of a novel three-legged, agile robot with
passively compliant 4-degrees-of-freedom legs, comprising a hybrid topology of serial …