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At least 451 records · Page 25
All sourcesNASA NTRSDOE OSTI
NASA NTRS2020

Mobility Mode Evaluation of a Wheel-on-Limb Rover on Glacial Ice Analogous to Europa Terrain

In this paper, we discuss the development of a multi-modal locomotion system and the results of field trials performed on fractured, glacial ice. Work was performed using the RoboSimian rover: a 32 degree-of-freedom, actively articulated mobility system. Three modes of mobility are compared: wheelrolling, inchworming (push-rolling) and wheel-walking. Each mobility mode is designed to operate with articulated suspension whereby the normal load per wheel, body orientation, and available limb workspace are actively controlled. Each mode is presented individually alongside a discussion of its performance on terrain of varied slope and topographic roughness. Further, the utility of a multi-modal approach is presented, whereby rover immobilization was avoided during field trials through the selection of appropriate mobility modes as a function of terrain properties. Lastly, the results of trials performed using a bodymounted sampling system and its ability to collect and process samples taken 10 cm beneath the surface are discussed.

Reid, William↗
NASA NTRS2020

Autonomous Navigation over Europa Analogue Terrain for an Actively Articulated Wheel-on-Limb Rover

The ocean world Europa is a prime target forexploration given its potential habitability [1]. We proposea mobile robotic system that is capable of autonomouslytraversing hundreds of meters to visit multiple sites of intereston a Europan analogue surface. Due to the topology of Europanterrain being largely unknown, it is desired that this mobilitysystem traverse a large variety of terrain types. The mobilitysystem should also be capable of crossing unstructured terrainin an autonomous manner given the communications limitationsbetween Earth and Europa.A wheel-on-limb robotic rover is presented that may activelyconform to terrain features up to 1.5 wheel diameters tall whiledriving. The robot uses a sampling-based motion planner togenerate paths that leverage its unique locomotive capabilities.The planner assesses terrain hazards and wheel workspacelimits as obstacles. It may also select a mobility mode basedon predicted energy usage and the need for limb articulationon the terrain being traversed. This autonomous mobility wasevaluated on the chaotic salt-evaporite terrain found in DeathValley, CA, an analogue to the Europan surface. Over the courseof 38 trials, the rover autonomously traversed 435m of extremeterrain while maintaining a rate of 0.64 traverse ending failuresfor every 10m driven.

Meirion-Griffith, Gareth↗
NASA NTRS2022

International Standard Measures During the AGBRESA Bed Rest Study

The Artificial Gravity Bed Rest with European Space Agency (AGBRESA) study involved 2 campaigns of 60-day bed rest at 6° head down tilt in the:envihab facility in Cologne, Germany, in 2019. The objective was to determine whether centrifugation of supine subjects mitigates physiological changes that occur due to the exposure to the spaceflight analog of 6° head down tilt. A set of international standard measures was used to evaluate bone, muscle, nutritional status, ocular changes, and psychological state and to assess cardiovascular, sensorimotor, and immune systems functions. After 60 days of bed rest, the subjects who were not exposed to centrifugation had significant decreases in mineral density at the hip and lumbar spine, decreased muscle strength of the knee and ankle, reduced maximal aerobic capacity, orthostatic intolerance, and impaired balance and locomotion, as well as significant biochemical, immunological, and psychological alterations. A daily 30-min exposure to 1 Gz supine centrifugation at the center of mass (0.3 Gz at the head, 2 Gz at the feet) mitigated mineral density loss in the femur neck and lumbar spine; and lessened the effects of bed rest on aerobic capacity, biochemistry, and immunology. However, low statistical power could contribute to the non-significant effects that are reported.

Bed rest↗
NASA NTRSDate not supplied

Firmware Architecture of the ARMADAS Bolting Robot

The Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) project, under development at NASA Ames Research Center, has demonstrated on-ground autonomous robotic assembly of extensive digital structures, and it is now moving forward towards in-space demonstration. The ARMADAS system comprises of the operation software, the operation user interface (opsUI), and a swarm of robots. The robotic system consists of a multitude of collaborative agents specifically designed to transport, place and bolt the building blocks, called voxels (volumetric pixels). This paper focuses on the bolting robot, referred to as Mobile Metamaterial Internal Co-Integrator (MMIC-I). MMIC-I is a battery-powered crawling robot. It navigates the structure through extension, contraction and gripping. Two distinct controller boards operate the robot's two symmetric modules, referred to as module A and B. Board A is the master board: it coordinates motion planning and motion primitives execution, hosts the WiFi client, performs periodic self-assessment and system idle check and triggers faults if anomalies are detected. Board B periodically sends a heartbeat to board A, through a wired communication channel that uses the Serial protocol. Additionally, board A's WiFi client receives heartbeat packet requests or motion/bolting commands from a dedicated server board, and acknowledges reception sending back a response heartbeat packet containing information about the overall robot status, e. g. electrical current and voltage values, target and actual angles, operating mode, fault status. Whenever a motion command is sent, the motion planning section of the firmware determines the current robot configuration, using Inertial Measurement Unit readings and the motors Pulse Width Modulation values. Afterwards, it calculates the list of primitives needed to reach the target state, and controls their execution in the proper order. MMIC-I can receive and execute motion and bolting commands only when it is in operational mode. MMIC-I has three operating modes: standby, operational and safed. Standby mode is automatically entered upon startup. While in standby mode, all motors are powered off, and the only accepted commands are the ones relative to a change of mode and heartbeat packet request. Fault detection causes the robot to automatically enter safed or standby mode. Whenever the detected fault occurs within a motion and requires immediate intervention, e. g. an over-current situation, the robot enters safed mode. Safed mode powers off all motors except for the locomotion module, thus preventing the robot from collapsing. Conversely, when the detected fault doesn't require immediate intervention (low battery warning, for instance), the robot enters standby mode after completing the ongoing motion. This paper provides a detailed discussion of MMIC-I's firmware architecture. It accurately describes the implementation approach for each module: sensor data reading, motor control and actuation, WiFi server-client communication, intra-boards Serial communication, operating modes and autonomous fault detection, motion planning, coordination and execution, etc. Moreover, in support of the software description, this paper includes a thorough characterization of MMIC-I's hardware and avionics.

In-space assembly↗
NASA NTRSDate not supplied

Neuro-Vestibular Examination During and Following Spaceflight (Vestibular Health)

BACKGROUND Adaptation to microgravity during spaceflight causes neurological disturbances that are either directly or indirectly mediated by the vestibular system. These disturbances could include space motion sickness, spatial disorientation, and cognitive impairment, as well as changes in head-eye coordination, vestibulo-ocular reflexes, and control of posture and locomotion. Otolith-mediated reflex gains appear to adapt rapidly during spaceflight and after landing. However, animal studies have shown that structural modifications of the vestibular sensory apparatus develop during long-duration spaceflight. To date, no studies have characterized the severity of vestibular syndromes experienced by astronauts as a function of the duration of spaceflight or whether the effects are caused by changes at the peripheral end organs, midbrain, cerebellum, or vestibular cortex. OBJECTIVES We will investigate temporal vestibular changes in crewmembers of short, 6-month, and one-year missions to identify trends in adaptation of vestibular health and performance in orbit and after landing. We will also determine whether the vestibular organs and/or the central vestibular system undergo structural changes during long-duration exposure to microgravity, which could cause vestibular disorders when transitioning to a different gravitational environment. METHODS Recordings of eye, head, and body movements, as well as subjective reports of perception of motion, will be used to determine the presence of abnormal eye movements, dysmetria, motion sickness symptoms, and illusions of motion during head or body movements. This includes characterization of temporal trends in central compensation for vestibular (otolith) asymmetry. Pre-flight data will be collected 90 days before the flight. In-flight tests will be performed early in the mission and once every one or two months thereafter. Post-flight examinations will be performed on the following days after return (R) from the mission: R+0, R+4, R+9, and R+30. Ground-based control tests will be performed on healthy volunteers in the laboratory to estimate mean normative responses. CONTROL RESULTS Thirty-two healthy (non-astronaut) control subjects performed the same ground test procedures as planned for crewmembers. In addition to establishing a normative database, these data were used to calculate vestibular asymmetries from perceptual reports during unilateral centrifugation, oculomotor responses during visual-alignment tasks, vestibulo-ocular reflex gain during head-impulse tests, and body rotation during stepping tests. A significant correlation was observed between asymmetries of subjective visual vertical and verbal report during unilateral centrifugation. Another significant correlation was observed between the asymmetries of ocular alignment, vestibulo-ocular reflex gain, and body rotation. These findings in a healthy cohort may help us better understand changes in vestibular asymmetries in crewmembers during and following spaceflight. RELEVANCE If the observed symptoms in crewmembers are more deleterious after the year-long missions than those documented after 6-month missions, then relevant countermeasures will be required to maintain the health and operational performance of astronauts during longer missions. Depending on the etiology of the vestibular syndrome revealed by these tests, countermeasures will be proposed based on vestibular rehabilitation therapies currently used in patients with vestibular disorders, such as habituation, gaze stabilization, and/or balance training exercises. ACKNOWLEDGEMENT This work is supported by the NASA’s Human Research Program Human Health Countermeasures Element.

T R Macaulay↗
NASA NTRS2022

A Rideshare Tensegrity Rover Concept to Explore Titan’s Lands and Oceans

The Tension Adjustable Network for Deploying Entry Membrane (TANDEM) concept is a phase II NASA Innovative Advanced Concepts (NIAC) project. One of the goals for this project was to extend the application of tensegrity-based rovers to a rideshare concept for a Titan mission. This report provides preliminary details of the TANDEM concept for Titan. System analyses of the entry vehicle were performed and compared to data from the Huygens mission to Titan. The entry aeroshell was based on Huygens and Stardust aeroshells. Modeling, simulation and design of the tensegrity deployment were performed using a nonlinear optimization form-finding algorithm. Lastly, a neuroevolution-based machine learning control strategy was applied, which produced efficient rolling locomotion gaits.

tensegrity↗
NASA NTRSDate not supplied

Evaluating The Relationships Between Supine Propriorception Assessments with Upright Functional Mobility and Balance Tests

INTRODUCTION Upon return to Earth, spaceflight sensorimotor adaptations can result in impaired posture and locomotion [1], [2], and current exercise countermeasures in the International Space Station are not sufficient to maintain sensorimotor function. In-flight countermeasures and assessment tools for sensorimotor function are needed to mitigate risks associated with mission-critical task performance upon return to Earth or arrival to 0.38 G on Mars. One proposed countermeasure for proprioceptive deconditioning includes training on a tilt board device [3], which will be tested in an upcoming bed rest study. In preparation for the said study, the objective of this pilot study is to compare performance in supine proprioceptive assessments to performance in functional upright activities. The results are intended to guide the selection of supine assessment tools for the upcoming bedrest study and the development of future inflight proprioceptive training and assessment tools for exploration missions. METHODS Seventeen healthy participants (8 males and 9 females, 27.9 ± 8.5 years) provided informed consent as approved by the Institutional Review Board (IRB) at NASA. A horizontal air-bearing sled was used to provide a proprioceptive challenge in a supine body orientation, allowing for mediolateral motion with minimal friction during supine stance [4]. Participants were loaded axially (30 to 60% body weight) with their feet on a vertically oriented tilt board and instructed to perform supine assessment activities using custom software that displays a cursor controlled by tilting the tilt board. In a single-leg static activity on the tilt board (TB-St), performance was measured as the percent time spent on a center target during a 30-second trial. During a two-feet dynamic activity on the tilt board (TB-Dy), performance was measured as the number of targets captured in 30 seconds. These supine tasks were compared to performance during two upright activities used to represent upright performance: completion time for a functional mobility task (FMT) [2],[5] and a performance score from force plate sway data during 30-second single-leg upright standing (USL). RESULTS AND DISCUSSION A Spearman's rank-order correlation was run to assess the relationship between upright and supine assessments. There were statistically significant, strong correlations between scores for the FMT and each TB activity, including TB-St, rs(17) = 0.50, p<0.05, TB-Dy3, rs(17) = 0.73, p<0.001, and TB-Dy9, rs(15) = 0.53, p<0.05. There were no statistically significant correlations between USL and each TB activity. Despite a lack of correlation with upright single-leg balance, the ability of the TB to indicate upright performance in the FMT is promising, as this task is a standard post-flight measure designed to characterize locomotor dysfunction [2], [5]. CONCLUSION These efforts will inform the selection of an appropriate sensorimotor assessment method for the upcoming bed rest study and similar future studies. While current work uses a bed rest analog to develop these technologies, future work aims to prepare capabilities for future in-flight sensorimotor training and assessment to mitigate the risks of proprioception impairment after spaceflight. ACKNOWLEDGEMENTS This work was supported by the University Space Research Association Internship Program. REFERENCES [1] Mulavara A.P. et al (2018) Med Sci Sports Exerc, 50(9), 1961-1980. [2] Mulavara A.P. et al (2010) Exp Brain Res, 202(3), 649-659. [3] Macaulay T.R. et al (2021) Front. Syst. Neurosci., 15, 658-985. [4] Goel R. et al (2017) Front. Syst. Neurosci, 11. [5] Koppelmans V. et al (2013) BMC Neurology, 12.

R Bellisle↗
NASA NTRSDate not supplied

Rapid Lightweight Firmware Architecture of the Mobile Metamaterial Internal Co-Integrator Robot

The Mobile Metamaterial Internal Co-Integrator (MMIC-I) is a structure assembly and servicing robot for in-space servicing, assembly, and manufacturing of primary structures and infrastructure. MMIC-I is a battery-powered crawling robot that can travel through periodic structures such as trusses and open framework mechanical metamaterials. It does this through sequences of component extension, contraction, and gripping. This paper provides a detailed discussion of MMIC-I’s lightweight and rapidly developed firmware architecture, to enable demonstration of robot locomotion, secondary operations, and communications with a central command source. The rationale for the lightweight rapid development approach is to allow for assessment of long term system requirements in parallel with the mechatronics development, including optimization of system and subsystem power densities, to inform a future choice of flight ready software frameworks. MMIC-I system computing and I/O requirements are much lower than what is provided by proven baseline computing hardware for existing flight ready software frameworks such as the core Flight System, F prime, and the Robot Operating System. Development of earth gravity ground demonstration of the robotic systems is greatly benefited by limited power and mass factors for computing hardware. Here, we implement inter-process communication, commanding, and telemetry with the Espressif ESP32 module running the Arduino OS.

Damiana Catanoso↗
NASA NTRSDate not supplied

LASSIE: Legged Autonomous Surface Science In Analogue Environments

Roving planetary surface exploration missions operate using a pre-programmed plan that can limit the capability to effectively detect unexpected changes in terrain properties, adjust locomotion or sampling strategies, and autonomously identify scientifically valuable observations and adjust exploration strategies. In particular, the inability to measure and react to unexpected changes in regolith properties can negatively impact mission operations. The Mars Exploration Rover Spirit and InSight lander both experienced challenges related to understanding the geotechnical properties of regolith. The advancements in legged robotic platforms hold potential to address these challenges through greater sensitivity to changing surface properties. The Legged Autonomous Surface Science In Analogue Environments (LASSIE) project explores how legged roving platforms can use the leg motors to measure geotechnical properties of crusted and icy surface regolith and utilize those measurements to autonomously update the science operations plans. These tests will be performed in martian and lunar analog environments and also within lab settings.

K. R. Fisher↗
NASA NTRSDate not supplied

Evaluating the Relationships Between Supine Propriorception Assessments With Upright Functional Mobility and Balance Tests

- Sensorimotor adaptations during spaceflight can result in impaired posture and locomotion upon return to Earth. - In-flight sensorimotor countermeasures and assessment tools are needed to mitigate risks associated with mission-critical task performance upon return to Earth or arrival to Mars. - The tilt board (Fig. 1) is proposed as an inflight proprioceptive countermeasure and will be tested in an upcoming bed rest study. - Proprioceptive assessments on the tilt board may also help predict post-flight and post-bedrest functional task performance.

Rachel F. Bellisle↗
NASA NTRS2021

ReQuBiS - Reconfigurable Quadrupedal-Bipedal Snake Robots

Self-assembling and self-reconfiguring robots have the ability to adapt to different or varying environments and carry out complex tasks. Robots competent of performing serpentine gaits and transforming into legged systems impart a wide range of locomotion schemes. Most of the reconfigurable robotic solutions consist of a large number of complicated mechanisms to detach and re-attach at different places making the system fragile and increase its size, weight and power (SWaP). We propose Reconfigurable Quadrupedal-Bipedal Snake Robots (ReQuBiS) to easily transform into these forms. Experimental results demonstrate the mobility in snake, quadruped and biped modes and transition between them with minimal change in modules.

Chiddarwar, Shital↗
NASA NTRSDate not supplied

Neuro-Vestibular Examination During and Following Spaceflight (Vestibular Health)

BACKGROUND Adaptation to microgravity during spaceflight causes neurological disturbances that are either directly or indirectly mediated by the vestibular system. These disturbances can include space motion sickness, spatial disorientation, and cognitive impairment, as well as changes in head-eye coordination, vestibulo-ocular reflexes, and control of posture and locomotion. Otolith-mediated reflex gains appear to adapt rapidly during spaceflight and after landing. However, animal studies have shown that structural modifications of the vestibular sensory apparatus develop during long-duration spaceflight. To date, no studies have characterized the severity of vestibular syndromes experienced by astronauts as a function of the duration of spaceflight or whether the effects are caused by changes at the peripheral end organs, midbrain, cerebellum, or vestibular cortex. OBJECTIVES We will investigate temporal vestibular changes in crewmembers of short, 6-month, and one-year missions to identify trends in adaptation of vestibular health and performance in orbit and after landing. We will also determine whether the vestibular organs and/or the central vestibular system undergo structural changes during long-duration exposure to microgravity, which could cause vestibular disorders when transitioning to a different gravitational environment. METHODS Recordings of eye, head, and body movements, as well as subjective reports of perception of motion, will be used to determine the presence of abnormal eye movements, dysmetria, motion sickness symptoms, and illusions of motion during head or body movements. This includes characterization of temporal trends in central compensation for vestibular (otolith) asymmetry. Pre-flight data will be collected 90 days before launch. In-flight examinations will be performed early in the mission (Flight Days 1 and 30) and once every two or three months thereafter. Post-flight examinations will be performed on the following days after return (R) from the mission: R+0, R+4, R+9, and R+30. Ground-based control tests have been performed on healthy volunteers in the laboratory to estimate mean normative responses. RESULTS Data collection for this study is ongoing. Data processing techniques are being refined. Our eye tracking method for measuring three-dimensional eye movement takes advantage of modern computer vision software (OpenCV) and advances in the field of iris recognition to improve measurement of ocular-counterolling. RELEVANCE If the observed symptoms in crewmembers are more deleterious after the year-long missions than those documented after 6-month missions, then relevant countermeasures will be required to maintain the health and operational performance of astronauts during longer missions. Depending on the etiology of the vestibular syndrome revealed by these tests, countermeasures will be proposed based on vestibular rehabilitation therapies currently used in patients with vestibular disorders, such as habituation, gaze stabilization, and/or balance training exercises.

T R Macaulay↗
NASA NTRSDate not supplied

Characterizing the Risk: Review of Sensorimotor Evidence and Research Roadmap

BACKGROUND: NASA’s Artemis program will take astronauts back to the lunar surface for the first time in almost 50 years. Despite the successes of the previous Apollo program, the Artemis missions will differ in duration, vehicle characteristics, and landing tasks that may exacerbate the risks to crew health/safety and mission objectives. NASA’s Human Research Program identifies the risk of altered sensorimotor/vestibular function impacting critical mission tasks as one of the top priority risks to lunar exploration missions. This session will review the existing evidence and remaining gaps in knowledge for the sensorimotor risk. DESCRIPTION: Alterations in sensorimotor processing during spaceflight can lead to motion sickness, spatial disorientation, and decrements in postural control, locomotion, and fine motor control during and following gravity-transitions. The risk of impairment is greatest during and soon after gravity-transitions, when performance decrements may have high operational impacts (e.g., manual landings, immediate egress following landing, and early extravehicular activities (EVAs)). Recent studies have specifically improved the risk characterization of changes in perception, motion sickness, postural and locomotor control, manual control, and fine-motor coordination. However, given the difficulty in obtaining measurements during and soon after gravity-transitions, evidence for initial decrements immediately following gravity-transitions remains limited. The most significant gaps in the risk include manual control ability around gravity-transitions, the incidence and severity of motion sickness during landings, and the ability to perform egress/EVAs soon after gravity-transition. To address these gaps, current research roadmaps leverage both spaceflight studies and ground-based analogs for risk characterization and countermeasure development/validation. DISCUSSION: This panel will further describe the current sensorimotor research strategies with an emphasis on the operational scenarios of manual control, crew egress, and EVA. The goal of this research is to accommodate the needs of the crew and facilitate human capabilities to ensure lunar mission success. This work will prepare NASA for successful Artemis missions and enable the next giant leap, the exploration of Mars.

Timothy Ryan Macaulay↗
NASA NTRSDate not supplied

Automated Multi-Robot Assembly of Compliance Optimized Structures

Autonomous assembly of large structures is one of the fundamental challenges on the way towards NASA’s objectives of deep space exploration. In this work, we propose an algorithmic framework to optimize the assembly process of a prescribed target structure by constraining the assembly effort as well as maintaining structural soundness throughout the process. This framework uses structural topology optimization with assembly effort metrics to generate checkpoints for robotic traversal algorithms. Assembly effort is quantified by the Wasserstein metric between consecutive structural configurations during the assembly process. The robotic assembly task is split into two subtasks, where we first optimize for a set of key frames, then perform reconfiguration between consecutive frames. Key frames are optimized by adopting topology optimization techniques to reduce assembly effort and maintain structural integrity during the assembly process, while reconfiguration between key frames is performed using a path planning algorithm with a minimum weight maximum matching approach on a bipartite graph. We employ a Crystalline robot model in which each structural element is capable of locomotion through the structure and locking into place with neighboring elements after reaching its destination. An example assembly of a two-dimensional cantilever beam under volume constraints and structural compliance considerations is presented to demonstrate the approach. Finally, we conclude by discussing possible future extensions to this work, including adoption of better metrics, extension to three-dimensional large-scale problems, and exacting finer control of structural integrity during the path-planning phase.

robotic assembly↗
NASA NTRSDate not supplied

Precision in Assembled Discrete Lattice Space Structures for Next-Generation ISAM Applications

Robust autonomous robotic assembly of large-scale space structures has been a long-term and challenging goal to enable higher quality in-space communication and science instrumentation. For optical observatory support structures and antenna structures, the challenge is the strict dimensional precision requirements (generally RMS surface error) driven by the operational radiation wavelength. Early theoretical work in the area linked RMS surface error of a reflector support truss plate to the natural passive dynamic mode frequencies of the structure, as well as to the error distribution in dimensions of constituent structural elements. Prior robotic truss assembly demonstrations focused on designing ultra-high precision structural elements, joints, and robotic actuators. Recently, an alternative space structure assembly strategy based on a programmable matter approach (NASA ARMADAS) was demonstrated. This approach uses lattice building blocks (voxels) that are reversibly, mechanically joined into a bulk lattice structure by robots that locomote in and on the structure itself. Such a system can achieve high-level autonomy with low computation, robustly assemble utilizing inexpensive and imprecise robots, and efficiently build structures several orders of magnitude larger than the assembly robots. However, for instrumentation support structure applications, the resulting precision of these building block-based lattice structures is not well studied. Since they are demonstrated with many more assembly units than prior art trusses, it is unclear whether the same precision design approaches apply. In this work, we study in simulation the effects of voxel geometry, error in distribution, assembly resolution (module size), and assembly geometry on the error of both beam and plate lattice structures. While average RMS error of a plate increases with plate size, increasing plate thickness quickly collapses RMS error towards a limit that is on the order of the error of the constituent parts. We validate our models against previously published precision measurements of built systems. Results from this study will guide manufacturing precision requirements, as well as designs, for future robotically assembled structural applications and establish feasibility for different applications.

Christine E Gregg↗
NASA NTRS2021

An Autonomous Vault-Building Robot System for Creating Spanning Structures

Research in autonomous robots for construction has largely focused on ground-based robots whose reach constrains the size of what they can build, or on climbing or aerial robots that build solid or unroofed structures. Autonomous construction of larger, multistory buildings, or bridges spanning unsupported distances, would require robots that build sturdy structures supporting their own weight. In this paper, we present VaultBot, a system of autonomous robots that build a load-bearing spanning vault using identical modular blocks. The custom blocks employ mechanical and other features to facilitate robotic manipulation and locomotion, and can be removed from and replaced in an assembled structure as a way of repairing damage. We characterize the system's performance and failure modes, and demonstrate reliable autonomous assembly for a structure composed of 46 blocks. Blocks can be made collapsible and deployable as a way of reducing mass and volume that must be transported to a construction site. Such a system could be used to help enable construction of protective shelters in challenging environments, such as disaster relief scenarios, arctic settings, or extraterrestrial habitats.

Nathan Melenbrink↗
NASA NTRS2021

SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments

Engineers and scientists often rely on their intuition and experience when designing soft robotic systems. The development of performant controllers and motion plans for these systems commonly requires time-consuming iterations on hardware. We present the SoMo (Soft Motion) toolkit, a software framework that makes it easy to instantiate and control typical continuum manipulators in an accurate physics simulator. SoMo introduces a standardized and human-readable description format for continuum manipulators. It leverages this description format and the Bullet physics engine to enable fast and accurate simulations of soft and soft-rigid hybrid robots in environments with complex contact interactions. This allows users to vary design and control parameters across simulations with minimal effort. We compare the capabilities of SoMo to other physics simulators and highlight the benefits and accuracy of SoMo by demonstrating the agreement between simulation and real-world experiments on several examples; these include an in-hand manipulation task with continuum fingers, an automated exploration of how to design soft fingers for precision grasping, and a brief snake locomotion study. Overall, SoMo provides an accessible way for designers of soft robotic hardware and control systems to gain access to a simulation-accelerated workflow.

Moritz A. Graule↗