This document is a summary of the work on space and field robotic systems
performed during the last five years at the MIT Field and Space Robotics
Laboratory, directed by Professor Dubowsky. This work consisted of studying the
physics of robotic systems used in space applications and proposing design,
control and path planning methods and algorithms to improve the performance of
these systems [1, 2].
note: Please refer to the number in the [ ] for the publications.
Categorized Research Projects
1. Design, Control, and Path Planning
Two main types of robotic systems used in space applications have been
studied. These systems are:
Design, path-planning and control methods for mobile multilimbed robots that
would operate in unstructured and partially known environments were developed.
These methods help to rapidly deploy reliable, robust, power-efficient and
cost-effective mobile robots.
A number of software and hardware paradigms were developed to support and test
the theoretical results of our research and its potential applications.
The goals of this work are to gain a better understanding of the behavior of
realistic, high-speed, spatial machine systems with flexible links, support
structures and enclosures, and clearance connections, and to develop modeling
methods that can be used by designers.
- free-flying and free-floating robotic devices
- compliant-base long reach manipulators
4. Application Projects
This application domain concerns the use of robotics technology to help
preserve and repair historic monuments. The monument chosen is the ship USS
This application project concerns the execution of EVA and IVA servicing tasks
The System Dynamics and Controls Laboratory is the only MIT Mechanical
Engineering course laboratory that is used for instruction of system dynamics,
modeling, and controls on the undergraduate level. This project included a
modernization of the laboratory equipment as well as an extensive review of the
intellectual challenges and educational goals of the laboratory.
The process for producing semi-conductor wafers for the microchip
production industry includes loading polysilicon nuggets into quartz
crucibles. Important considerations in this process include protection of the
crucible from damage, minimization of contamination, maintaining the required
charge density, and achieving an appropriate side wall nugget orientation.
Currently this process is performed manually. This project is developing an
automated process for loading the polysilicon nuggets, facilitating larger
charge densities and the use of larger crucibles in the manufacturing process.
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