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Completed TRL 3 (started at 2, targeting 3)
Mobile robots are an important tool for interplanetary exploration. For example, they can visit the surfaces of terrestrial planets to collect and test samples remotely. This project examines how an ensemble of small robots work together to create new, robust, flexible and large-scale behaviors. Granular media, like sand and shale, are common on Mars and can result in slipping which, unlike on solid rock, presents additional uncertainty and limitations for robotic systems. We aim to demonstrate millirobots that collaboratively move large payloads using a coordinated set of tethers. In order to collectively apply tugging forces, these machines must securely and sensitively anchor onto a variety of surfaces. We are developing new granular material modeling methods and anchoring mechanisms to accomplish this vision.
This project looks to utilize mobile robots that can anchor to produce large manipulation forces enable new maneuvers at size and force scales beyond typical platforms today. If successful, this work enables agents to perform on new substrates, such as sand and shale, which are common on Mars. Novel estimation and control methods will help machines robustly perform manipulation in tandem for tasks like moving large payloads. The design and modelling tools developed will expand what we understand about interacting with granular media, which may influence applications like future rover and excavation tasks.
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