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The Technology objective is to develop multi-legged robots that can “feel” and interpret surface force responses via leg-terrain interactions, to enable adaptive sampling and high mobility on extreme earth and planetary surfaces.
Selected Publications
Making every step an experiment: proprioceptive sensing during locomotion for enhanced mobility and data collection in planetary-analogue explorations
E. Fulcher, J. D. Caporale, Y. Zhang, J. C. Bush, R. C. Ewing, K. R. Fisher, D. J. Jerolmack, S. Liu, M. Nachan, F. Rivera-Hernandez, J. Ruck, T. Shipley, C. Wilson, D. E. Koditschek, and F. Qian, Lunar and Planetary Science Conference (LPSC), Woodland, TX, 2024.
Relating Geotechnical Properties of Crusty Regolith to Morphology and Mineralogy Using a Robotic Leg Rheometer
J. Bush, Y. Zhang, J. D. Caporale, R. C. Ewing, K. R. Fisher, E. Fulcher, D. J. Jerolmack, N. A. Jones, D. E. Koditschek, S. Liu, B. McKeeby, M. Nachan, F. Rivera-Hernandez, J. Ruck, T. Shipley, S. Thompson, C. Wilson, and F. Qian, Lunar and Planetary Science Conference (LPSC), Woodland, TX, 2024.
Robotic Legs as Novel Planetary Instrumentation to Explore the Mechanical Properties of Regolith
J. Bush, Y. Zhang, S. Liu, E. Fulcher, C. Franklin, D. J. Jerolmack, R.C. Ewing, K.R. Fisher, and F. Qian, Lunar and Planetary Science Conference (LPSC), Woodlands, TX, 2023 (Dwornik Best Poster Presentation Award runner-up)
Obstacle-aided path following of a quadrupedal robot through sequential gait composition
H. Hu and F. Qian, IEEE Transactions on Robotics (2024).
Proprioceptive sensing to aid with locomotion adaptation in mud
S. Liu, J. Bush, S. Pradeep, D. J. Jerolmack, S. Meng, J. Tang, J. Ruck, and F. Qian, March Meeting of the American Physical Society, Minneapolis, MN, 2024.
Characterizing Mechanical Properties of Natural Deformable Substrates with a Direct-Drive Robotic Leg
J. Bush, Y. Zhang, J. Futterman, J. Ruck, S. Liu, E. Fulcher, D. J. Jerolmack, K. R. Fisher, R. C. Ewing, and F. Qian, March Meeting of the American Physical Society, Minneapolis, MN, 2024.
Making every step an experiment: proprioceptive sensing during locomotion for enhanced mobility and data collection in earth and planetary explorations
Y. Zhang, E. Fulcher, D. J. Caporale, S. Liu, J. Bush, J. Ruck, D. E. Koditschek, D. J. Jerolmack, and F. Qian, March Meeting of the American Physical Society, Minneapolis, MN, 2024
Robotic Legs as Novel Regolith Sensors for Earth and Planetary Explorations
30. E. Fulcher, J. Bush, J. D. Caporale, S. Liu, Y. Zhang, F. Qian, Southern California Robotics Symposium, Los Angeles, CA, 2023.
Affordances of Animals and Machines
D. E. Koditschek, Invited Keynote, Robophysics Workshop Session III, American Physical Society Annual Meeting, March 2024, Minneapolis MN
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope
H. Hu, F. Qian, D. Seita, under review.
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