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While autonomous capabilities have proliferated across a wide range of commercial and domestic applications, some tasks require intermittent aid from a human operator. Guaranteeing the safety of these intermittently-teleoperated systems requires stability guarantees that hold in the presence of switching. In this paper, we consider the problem of controlling a robotic vehicle using both a human controller...
This paper investigates the orderly recruitment of pneumatic artificial muscles for efficient torque production in a robotic manipulator. Pneumatic artificial muscles (PAMs) are arranged in a parallel bundle, and independently-controlled “motor units” are employed to imitate the structure and function of human skeletal muscle. Simulated cycling tests are conducted on a model of the robotic manipulator...
The Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or...
The Mars Science Laboratory Robotic Arm (RA) is a key component for achieving the primary scientific goals of the mission. The RA supports sample acquisition by precisely positioning a scoop above loose regolith or accurately preloading a percussive drill on Martian rocks or rover-mounted organic check materials. It assists sample processing by orienting a sample processing unit called CHIMRA through...
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