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Co-evolution of morphology and control is a powerful approach in robotics to study performance on a particular task, considering mechanical structure and control as a whole to accomplish a certain goal. Co-evolutionary methods have been used to study the e ...
Most of the conventional legged robots are based on rigid body parts connected by high-torque actuators and a sophisticated control scheme to achieve stable running locomotion. The energy-efficiency of such robots is roughly 10-100 times lower than that of ...
We propose a robust and low complexity scheme to estimate and track carrier frequency from signals traveling under low signal-to-noise ratio (SNR) conditions in highly nonstationary channels. These scenarios arise in planetary exploration missions subject ...
Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
The High-Resolution Imaging Science Experiment (HiRISE) onboard Mars Reconnaissance Orbiter (MRO) has been used to observe Phobos and Deimos at spatial scales of around 6 and 20 m/px, respectively. HiRISE (McEwen et al., JGR, 112, CitelD E05502, DOI: 10.10 ...
In the Mars rover missions the signals transmitted back to Earth travel under low SNR conditions in highly non-stationary channels [1, 2]. During the entry, descent and landing phase (EDL), the spacecraft high dynamics yields severe Doppler effects. We pro ...
In nature, many small animals use jumping locomotion to move in rough terrain. Compared to other modes of ground locomotion, jumping allows an animal to overcome obstacles that are relatively large compared to its size. In this thesis we outline the main d ...
This paper presents the design of a flexure based focusing system, part of the Close-Up Imager (CLUPI) instrument which is planned to be integrated on the future ExoMars NASA-ESA Mars Rover to be launched in 2018. Various design trade-offs are discussed, i ...
This work considers our approach to robot motion control learning from the standpoint of multiple data sources. Our paradigm derives data from human teachers providing task demonstrations and tactile corrections for policy refinement and reuse. We contribu ...
One of the most crucial stages of the Mars exploration missions is the entry, descent, and landing (EDL) phase. During EDL, maintaining reliable communication from the spacecraft to Earth is extremely important for the success of future missions, especiall ...
