ESA NPI

ESA Networking/Partnering Initiative

Schematic representation of a nominal localization subsystem with the different components and its On-Board Data Handling (OBDH) (Source: Javier Hidalgo Carrió, DFKI GmbH)
Schematic representation of a nominal localization subsystem with the different components and its On-Board Data Handling (OBDH) (Source: Javier Hidalgo Carrió, DFKI GmbH)
Scientific Leader:
 
Project leader:
Dr.-Ing. Jakob Schwendner
 
Contact person:

ESA's Networking/Partnering Initiative (NPI) supports work carried out by universities and research institutes on advanced technologies with potential space applications, with the aim of fostering increased interaction between ESA, European universities, research institutes and industry.

Duration: 01.04.2011 till 31.03.2014
Donee: DFKI GmbH
Sponsor: ESA
Grant number: Contract 4000103229/11/NL/PA
Application Field: Space Robotics

Project details

Rover navigation cycle during a typical robotic exploration mission study.(Source: Javier Hidalgo Carrió, DFKI GmbH)

The DFKI takes part in the ESA Networking/Partnering Initiative (NPI) in the form of a co-funded doctorate degree on the subject of robot localization for space environments.

Part of the initiative is to provide shared access to ESA facilities, systems and technical support. The intention of ESA behind the NPI initiative is to strengthen the links between research institutions, industry and ESA, and encourage academic interest in space related technology, to make contributions to the long-term needs of Europe’s space programme.

Rover speed for past, present and future planetary missions. The lowest line is the average mission speed taking into account locomotion and science sols. Upper and middle lines only consider locomotion sols, being the maximum average and nominal average speed respectively. (Source: Javier Hidalgo Carrió: A Miniaturised Space Qualified MEMS IMU for Rover Navigation, 2011)
Slip vector representation and its effect on wheel displacement. (Source: Javier Hidalgo Carrió, DFKI GmbH)
Six Degrees-of-Freedom kinematics modeling of Sherpa, a wheeled-leg planetary rover. The image depicts a single leg. The pose estimation is computed as composition equation of leg/wheel Jacobian matrices. (Source: Javier Hidalgo Carrió, DFKI GmbH)
Six Degrees-of-Freedom kinematics modeling of Asguard, a legged-wheel mobile robot. The pose estimation is computed as composition equation of wheel Jacobian matrices. (Source: Javier Hidalgo Carrió, DFKI GmbH)

Publications

2018


2017


2016


2015


2014


2013


2012


Back to the list of projects
© DFKI GmbH
last updated 26.08.2019
to top