This paper presents an open-sourced MATLAB simulation and analysis platform dedicated to legged climbing robots. This simulator enables the design of any limbed robotic system as an articulated multi-body with a floating base and simulates it walking and climbing in an arbitrary environment. The main variable environme …
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 terrain under continuously imposed traction asymmetry. While conventional controllers that are based on kinematics frequently cause slip-sinkage e …
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 of future human outposts. Toward the deployment and establishment of human habitation modules on the lunar surface, we propose a combined sys …
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 robots (MLIVRs) equipped with grappling end-effectors have emerged as a promising solution, as they can securely grasp pre-existing interfaces, …