Warley F. R. Ribeiro

Tohoku University | Tohokudai · Department of Aerospace Engineering

To address the stability of wall climbing motions in legged robots, the Tumble Stability criterion offers several advantages in addition to its computational simplicity: 1) it can be applied in scenarios where the robot's centroid projection is not defined (e.g., wall climbing), and 2) it easily incorporates the ground gripping capability in the ca...

Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh environments that picture extremely low gravity and highly uneven terrain. Our method plans the gait by decoupling the b...

In-situ explorations of asteroids and other small celestial bodies are crucial to collect surface samples, which could be the key to understanding the formation of our solar system. Studying the composition of asteroids is also important for future planetary defense and mining resources for in-situ utilization. However, the weak gravitational field...

Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh environments that picture extremely low gravity and highly uneven terrain. Our method plans the gait by decoupling the b...

Robotic mobility in microgravity is necessary to expand human utilization and exploration of outer space. Bio-inspired multi-legged robots are a possible solution for safe and precise locomotion. However, a dynamic motion of a robot in microgravity can lead to failures due to gripper detachment caused by excessive motion reactions. We propose a nov...

Intra-Vehicular Robots (IVR) are expected to enhance automation and facilitation, assisting astronauts in on-orbit stations such as International Space Station (ISS) or a commercial space station. Cargo manipulation and transportation are representative tasks that IVR is expected to perform instead of human astronauts. Cargo transportation under mi...

Intra-Vehicular mobile robots are expected to assist astronauts in their work on the International Space Station (ISS) or future lunar gateway. Since such robots are required to carry cargo, open and close hatches, they need a articulated mechanisms for manipulating them and fixing the robot itself. In our laboratory, we have been developing a four...

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 environmental parameters are inclinatio...

The exploration of minor bodies, such as asteroids and comets using robotics is a necessary step for the study of the Solar System's evolutionary process. For such purpose, a multi-legged ground-gripping robot was proposed to perform precise locomotion towards specific places of interest. Moreover, stable locomotion is expected, since this robot ha...

Climbing robots have a high capability to explore hazardous environments, including disaster sites and extraterrestrial bodies under low-gravity. Equilibrium evaluation is necessary to plan safe locomotion for a robot, but most methods consider either only static conditions or complex friction theory. Since dynamic consideration is necessary for ev...

The surface of an asteroid features an irregular terrain and microgravity. Therefore, robotic exploration in an asteroid requires the adoption of an appropriate locomotion strategy. Moreover, an exploration robot is expected to be capable of moving to an area of scientific interest. In response to this, we have proposed a ground grip robot that mov...

Owing to the irregular terrain and microgravity environment of an asteroid, an appropriate locomotion mechanism is required for exploring the asteroid by a robot. In this paper, a ground grip locomotive robot is proposed. One of the most important requirements of the robot is the development of the finger gripping mechanism that can be attached on...