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ARM-S Phase 2, Cutting a Wire, 2013 - This video shows an autonomous two-arm manipulator performing a sequence of sub-tasks to eventually cut a wire. The robot first identifies bag of tools and a burlap sack covering the scene. It then removes the burlap sack to unveil a junction box with a wire. The tool bag is opened and a pair of trimmers is removed from the bag, re-positioned in the hands, and finally used to cut the detected wire. The video is sped up by 2x.
ARM-S Phase 2, Cutting a Wire, 2013 		ARM-S Phase 2, Changing a Tire, 2012 - This video shows an autonomous two-arm manipulator changing a wheel mounted on a fixed stand. The robot scans the scene to segment out objects, identifies the wheel and impact-driver, manipulates the impact-driver to remove all four lug nuts, and removes the wheel. A human user then places a new wheel in the scene and the robot completes the sequence by mounting the new wheel on the bolts. The video is sped up by 2x and is all one continuous shot from multiple camera angles.
ARM-S Phase 2, Changing a Tire, 2012 		Durable Reconnaissance and Observation Platform (DROP), 2011 - The Durable Reconnaissance and Observation Platform (DROP) is a prototype robotic platform with the ability to climb concrete curbs and stairs. It can also climb surfaces up to 85 degrees at a rate of 25cm/s, makes rapid horizontal to vertical transitions, carry an audio/visual reconnaissance payload, and survive impacts from 3 meters. DROP is manufactured using a combination of selective laser sintering (SLS) and shape deposition manufacturing (SDM) techniques. The platform uses a two-wheel, two-motor design that delivers high mobility with low complexity. (ICRA 2012 Best Video Award Finalist)
Durable Reconnaissance and Observation Platform (DROP), 2011 		ARM-S Phase 1, Grasping in Cluttered Environments, 2011 - This video shows visual object recognition and manipulator path planning in a cluttered environment. First the scene is imaged and the flashlight localized. Then a path is planned to move to the grasp position, grasp, and carry the flashlight to the target orange square on the table top. The planned path avoids collisions of the arm and flashlight with the rest of the environment, while optimizing path length and joint torques.
ARM-S Phase 1, Grasping in Cluttered Environments, 2011
 
Axel Field Tests, 2011 - Results from two field trials of the Axel and DuAxel rovers at a Mars analogue site near Black Lava Point, Arizona (done in conjunction with MSL) and at a local quarry in Canyon Country, CA. Tele-operated demonstrations include DuAxel traverses up slopes exceeding 35 degrees, separation of Axel from DuAxel, and Axel excursions in extreme terrains with slopes ranging from 30 – 85 degrees and in terrains littered with boulders. A sequence of microscopic, spectroscopic and thermal measurements are acquired on stratigraphic layers of such slopes.
Axel Field Tests, 2011 		Microspine Grippers, 2011 - The video presents microspine-based anchors being developed for gripping rocks on the surfaces of comets and asteroids, or for use on cliff faces and lava tubes on Mars. Two types of anchor prototypes are shown on supporting forces in all directions away from the rock; greater than 160 N tangent, greater than 150 N at 45 degrees, and greater than 180 N normal to the surface of the rock. A compliant robotic ankle with two active degrees of freedom interfaces these anchors to the Lemur IIB robot for future climbing trials. Finally, a rotary percussive drill is shown coring into rock regardless of gravitational orientation. As a harderthan-zero-g proof of concept, inverted drilling was performed creating 20mm diameter boreholes 83 mm deep in vesicular basalt samples while retaining 12 mm diameter rock cores in 3-6 pieces. (ICRA 2012 Best Video Award Finalist)
Microspine Grippers, 2011 		ARM-S Phase 1, Unlocking a Door, 2011 - This video shows autonomous insertion of a key and unlocking a door. After imaging the scene and localizing the handle, the arm moves toward contact using the key already in the hand. The finger knuckles move into contact with the door handle on both the front and side face to provide relative hand to handle localization. The key is then inserted using force control and dither motions.
ARM-S Phase 1, Unlocking a Door, 2011 		Tri-ATHLETE Driving, 2009 - Field tests showing Tri-ATHLETE driving capabilities. The first video shows six-wheeled driving on flat terrain. The second video shows steep terrain driving. The third shows clearing a boulder in rough terrain.
Tri-ATHLETE Driving, 2009
 
Tri-ATHLETE Habitat Transport, 2009 - Field test showing two Tri-ATHLETE rovers transporting a mock-up habitat. The first video shows offloading from a mock-up lunar lander. The second video shows undocking from the deployed habitat.
Tri-ATHLETE Habitat Transport, 2009 		Tri-ATHLETE Skills, 2009 - Field demonstration of Tri-ATHLETE exercising useful skills. The first video shows attaching a gripper and using it to grab and transport a utility box. The second video shows smoothing terrain with a scoop. The third video shows one three-legged unit standing tall.
Tri-ATHLETE Skills, 2009 		Axel Rover Demo, 2009 - Engineers from NASA's Jet Propulsion Laboratory and students at the California Institute of Technology have designed and tested a versatile, low-mass robot that can rappel off cliffs, travel nimbly over steep and rocky terrain, and explore deep craters (1:17).
Axel Rover Demo, 2009 		Real-Time Visual Terrain Reconstruction for BigDog, 2008 - Real-time terrain reconstruction for the BigDog vehicle using a stereo camera. The camera motion is estimated using visual odometry and stereo range points are projected into an elevation grid map. (1:43)
Real-Time Visual Terrain Reconstruction for BigDog, 2008
 
ATHLETE of the Future, 2007 - Brian Wilcox provides an overview of the All Terrain, Hex-Legged, Exterrestrial Explorer (ATHLETE) lunar robot prototype. (3min) (Original URL is <a href=http://www.jpl.nasa.gov/videos/technology/athlete-20070806/ target=_blank>here</a>.)
ATHLETE of the Future, 2007 		SOOPS-FTB, 2007 - Science Operations On Planetary Surfaces - Field Test in a Box (SOOPS-FTB), is a software tool that combines the MER operations interface (Maestro), with the MTP rover control software system (CLARAty), and the simulation environtment (ROAMS). The image above shows screenshots from these three constiuent tools. By combining them, the SOOPS-FTB system enables simulated rover missions, providing a venue for testing new operations and control software, or training new operators. Using software simulated missions, in lieu of field tests or real mission days, provides greated flexibility and cost savings. (9 min)
SOOPS-FTB, 2007 		Human Detection, 2006 - Demonstration of moving human detection from a moving robot using stereo vision. The right shows an overhead map extracted from stereo data, and the left shows the original imagery automatically overlayed with a bounding box around the moving person. (0:36)
Human Detection, 2006 		Humanoids for Autonomous Operations, 2006 - This video describes automation of a Fujitsu humanoid robot, providing vision and manipulation capabilities for space assembly operations.
Humanoids for Autonomous Operations, 2006
 
Lemur, Docking Demonstration, 2005 - Lemur IIa is shown docking with a support fixture using visual targets for self positioning. Additionally, a sticky gripper demonstration is shown. (3:34, no audio)
Lemur, Docking Demonstration, 2005 		Lemur, In Space Assembly, 2005 - Lemur IIa is shown traversing through a mockup space structure truss to a task board, where it performs vision-guided body positioning and bolt tightening. (2:46, no audio)
Lemur, In Space Assembly, 2005 		Lemur, Robot Traverse of Mirror Surface, 2005 - The Lemur IIa robot is shown walking across the surface of a segmented mirror, with footfalls at the segment nodes. (4 minutes, no audio)
Lemur, Robot Traverse of Mirror Surface, 2005 		Lemur, Skills Demonstration, 2005 - Lemur IIa shows four skills: body motion, inverted body pose and motion, direction change, and floor to ceiling transition. (2:27, no audio)
Lemur, Skills Demonstration, 2005
 
Lemur, Three Tool Demonstration, 2005 - Lemur IIa uses three limbs to position tools during an assembly task: a spotlight, a rotary wrench, and a close focus camera. Additionally, Lemur is shown signing its name with pen and paper. (3:39, no audio)
Lemur, Three Tool Demonstration, 2005 		EDL, Vision Guided Autonomous Safe Landing, 2004 - Demonstration of helicopter landing, autonomously and safely, in an obstacle field. (1:53, no narration)
EDL, Vision Guided Autonomous Safe Landing, 2004 		Landmark-based Spacecraft-orbit Determination, 2004 - Landmark-based spacecraft-orbit determination. Left pane: Imagery with detected landmarks shown. Red = rejected as outlier. Green = accepted. Right pane: Recovered position overlaid on ground-truth trajectory. Vision-based position errors are shown for each frame. (1:15)
Landmark-based Spacecraft-orbit Determination, 2004 		MER, Rover Driving 101, 2003 - Overview of the Mars Exploration Rovers navigation algorithm, GESTALT, including explanations of stereo vision, traversability analysis, path selection and driving. GESTALT is an acronym for Grid-based Estimation of Surface Traversability Applied to Local Terrain. (5 min)
MER, Rover Driving 101, 2003
 
EDL, Hazard Detection Rocket Sled Test, 2002 - Rocket sled emulation of planetary landing to test lidar sensing for hazard detection. (2:49, no narration)
EDL, Hazard Detection Rocket Sled Test, 2002 		FIDO, Technology and Training for Mars, 2002 - Description of FIDO rover field trials at Grey Mountain, Arizona, and associated MER operations readiness test at JPL. (6 min)
FIDO, Technology and Training for Mars, 2002 		MER, DIMES Testing, 2002 - Video description of the use, and Mojave Desert field testing, of the Descent Image Motion Estimation System (DIMES) for the Mars Exploration Rovers (MER) mission. (2:26, no narration)
MER, DIMES Testing, 2002 		Urbie, Indoor Navigation, 2001 - Urbie uses ladar to nagigate through obstacles indoors.
Urbie, Indoor Navigation, 2001
 
Automated Plant Micro-Propagation Demonstration, 2001 - Laboratory demonstration of a prototype system for automation of plant micro-propagation. (5:29)
Automated Plant Micro-Propagation Demonstration, 2001 		FIDO, Toward Mobile Autonomy, 2001 - Descriptions of FIDO rover technology and third field test with MER scientists at Soda Mountain, California. (7 min)
FIDO, Toward Mobile Autonomy, 2001 		Urbie, 2001 - The Tactical Mobile Robot program, in the DARPA Advanced Technology Office, has enlisted JPLs Machine Vision Group in leading the design and implementation of its perception urban robot. This urban robot (Urbie) is a joint effort of JPL, iRobot Corporation, the Robotics Institute of Carnegie Mellon University, and the University of Southern California Robotics Research Laboratory. <p> Urbies initial purpose is mobile military reconnaissance in city terrain but many of its features will also make it useful to police, emergency, and rescue personnel. The robot is rugged and well-suited for hostile environments and its autonomy lends Urbie to many different applications. Such robots could investigate urban environments contaminated with radiation, biological warfare, or chemical spills. They could also be used for search and rescue in earthquake-struck buildings and other disaster zones. <p> To be able to investigate dangerous areas, Urbie has been outfitted with many different sensors and cameras. These include among others, stereo cameras, an Omnicam, three-axis gyros and accelerometers, digital compass, and a high-precision gps. In the future Urbie will also carry a night-vision camera and a two-axis scanning laser rangefinder. <p> (8:44, no audio)
Urbie, 2001 		FIDO, In Situ Exploration, 2000 - Descriptions of FIDO rover technology and second field test at Black Rock Summit, Nevada. (6:17)
FIDO, In Situ Exploration, 2000
 
Planetary Dexterous Manipulators, 1999 - Overview of the development of a number of technologies to advance the capabilities for manipulation by space robots. These include: computer aided analysis and design, ultrasonic motors, autonomous rock acquisition, and coordinated autonomous manipulators. (6:32)
Planetary Dexterous Manipulators, 1999 		Rocky 7, Autonomous Multiple Rock Sample Acquisition (1999) - Unedited segment of a typical experimental run. After receiving three target locations, the rover begins its autonomous operation with no further external communication. Using visual tracking, it successfully collects three rocks. (10 min)
Rocky 7, Autonomous Multiple Rock Sample Acquisition (1999) 		Nanorover Technology, 1998 - A description of electronics technology development in preparation for the MUSES-CN flight mission. Shown are techniques to sense wheel terrain contact using capacitive proximity sensing, and those to reduce dust build-up through electrostatic rejection. Also described is the development of new miniaturized electronics, called Widget Boards. (6:32)
Nanorover Technology, 1998 		Rocky 7, Long Range Science Rover Technology, 1998 - This video describes the research accomplishments of the Long Range Science Rover task in 1998 using the Rocky 7 rover. Demonstrations are shown for improved onboard path planning, terrain-based rover localization, simultaneous motion and hazard detection, autonomous bi-directional driving, smart execution with replanning, and ground-based automated path planning. (8 min)
Rocky 7, Long Range Science Rover Technology, 1998
 
Nanorover Technology, 1997 - Description of a 1 kilogram rover technology development, using imaging and optical spectrometry integrated into a small, four-wheeled, self-righting, mobile package. (5:35)
Nanorover Technology, 1997 		Rocky 7, Mojave Desert Field Tests, 1997 - This video describes a simulated 32 day Mars mission conducted with scientists at Lavic Lake in May 1997. From emulated descent imagery obtained by helicopter, planetary geologist Ray Arvidson selected four locations to be visit: desert pavement, dry lakebed, cratered playa, and an alluvia fan. Rocky 7 drove greater than 1km and visited all sites, where imagery and science instrument readings were obtained. Details may be found in: R. Volpe, <a href=http://www-robotics.jpl.nasa.gov/publications/Richard_Volpe/Jr7SunNav.pdf target=_blank>Navigation Results from Desert Field Tests of the Rocky 7 Mars Rover Prototype</a>, International Journal of Robotics Research, Special Issue on Field and Service Robots, 18(7), July 1999. (7min)
Rocky 7, Mojave Desert Field Tests, 1997 		Calibrated Synthetic Viewing, 1996 - Multiple camera views are matched with geometric models of a space station mock-up to enable precision insertion of a model of an orbital replacement unit. (7min)
Calibrated Synthetic Viewing, 1996 		Rocky 7, Long Range Science Rover, 1996 (long version) - <br> Part 1: This video describes the research accomplishments of the Long Range Science Rover task in 1996 using the Rocky 7 rover. Demonstrations are shown for distributed collaborative sequence building using the Web Interface for TeleScience (WITS) and single uplink command cycle execution of: visual goal identification, spectrometer positioning and reading, verification of soil-like terrain before digging, soil digging with visual confirmation of sample acquisition, change-based position estimation from lander imagery, and long traverse navigation with sun sensor heading determination. Time lapse imagery of the entire demonstration is provided. (10 min) <br> Part 2: Intial development of the Rocky 7 mast is shown, including benchtop testing of its functionality for image panorama capture and instrument placement of a microscopic camera. (2 min)
Rocky 7, Long Range Science Rover, 1996 (long version)
 
Rocky 7, Long Range Science Rover, 1996 (short version) - This video describes the research accomplishments of the Long Range Science Rover task in 1996 using the Rocky 7 rover. Demonstrations are shown for distributed collaborative sequence building using the Web Interface for TeleScience (WITS) and single uplink command cycle execution of: visual goal identification, spectrometer positioning and reading, soil digging with visual confirmation of sample acquisition, change-based position estimation from lander imagery, and long traverse navigation with sun sensor heading determination. (4 min)
Rocky 7, Long Range Science Rover, 1996 (short version) 		Five Kilogram Rover, Mars Surveyor Concepts, 1995 - Details describing a 5 kilogram rover concept vehicle and its use in a lander-centric short-range sampling mission. Features include: total system mass approximately half of the Sojourner rover, a rake-like soil and rock sampling tool, and automatic localization from the lander using a colored-cylinder on the rover. Also shown is a concept for a power tethered rover with instrument positioning device. (7:40)
Five Kilogram Rover, Mars Surveyor Concepts, 1995 		Distributed Space Telerobotics, 1994 - Dual arm satellite servicing technology is demonstrated with remote control of robots at JPL by operators in Philadelphia and Japan. (5:11)
Distributed Space Telerobotics, 1994 		Exoskeleton Telemanipulation, 1994 - Shown is a human-like robot hand and arm effectively manipulating astronauts tools. Teleoperation commands are provided by an operator wearing and instrumented glove and hand controller, which also reflect measured forces. (5:36)
Exoskeleton Telemanipulation, 1994
 
RSI, Remote Surface Inspection, 1994 - Description and demonstration of the research accomplishments in Remote Surface Inspection in 1994. Discussion and demonstrations are provide for the Integrated Sensor End Effector, operations interfaces with stereoscopic display and head motion control of remote cameras, visual change-based flaw detection, and force-controlled eddy-current sensor surface crack detection. (4 min)
RSI, Remote Surface Inspection, 1994 		RSI, Multi-Sensor Remote Surface Inspection, 1993 - Description and demonstration of the research accomplishments in Remote Surface Inspection in 1993. Details describe the Integrated Sensor End Effector, the inspection systems operator interface, and the mockup space platform under inspection. (5:43)<br><br> This video was awarded the <a href=http://www.ieee-ras.org/member/awardsRAS.php#icra-video target=_blank>1994 ICRA Best Video Award</a> at the IEEE International Conference on Robotics and Automation.
RSI, Multi-Sensor Remote Surface Inspection, 1993 		RSI, Via Frame Manipulator Trajectory Control, 1992 - Remote Surface Inspectin with via-frame specification of trajectories for 8 DOF manipulator control. Both simulation and experimental results are presented. Algorithm details may be found in: R. Volpe, <a href=http://www-robotics.jpl.nasa.gov/publications/Richard_Volpe/icra93.pdf target=_blank>Task Space Velocity Blending for Real-Time Trajectory Generation</a>, IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, May 2-7 1993. Also, U.S. Patent No. 5602968.<p> (3min)
RSI, Via Frame Manipulator Trajectory Control, 1992 		Tooth and Rocky - Micro and Mini Rovers, 1991 - Demonstrations of the prototype robots Tooth and Rocky 3, as alternatives to larger Mars rover concepts. Limited sensing, computation, and memory employ behavior control techniques in these smaller systems. (3:31)
Tooth and Rocky - Micro and Mini Rovers, 1991
 
Robby, Planetary Rover Milestone, 1990 - Robby, a Mars Rover prototype and testbed, is shown autonomously traversing 100 meters in natural terrain. Stereo vision and path planning are used to reach a goal location out of view of the start position. (2:12)
Robby, Planetary Rover Milestone, 1990 		Robby, Planetary Rover Program, 1990 - An overview of the Planetary Rover Program, featuring Robby. (10min)
Robby, Planetary Rover Program, 1990 		Robby, Sampling Demo, 1990 - The Robby Mars rover prototype, performing a rock sampling demonstration in natural terrain. (5:21, no audio)
Robby, Sampling Demo, 1990 		Telerobot Testbed, Teleoperation and Supervised Autonomy, 1990 - Demonstration of Orbital Replacement Unit (ORU) exchange using a three arm system with dual-arm manipulation, and stereo-camera placement via the third arm. The remote operator completes the task by using the system features of force reflection, autonomous compliant strategies, and operator designation. (12:30)
Telerobot Testbed, Teleoperation and Supervised Autonomy, 1990
 
CARD: Computer-Aided Remote Driving, 1988 - Demonstration of teleoperation of a Humvee from a remote operation station. Highlighted is technology for acquiring stereo imagery, displaying it to an operator, selection of a safe path, and execution of the designated path by the vehicle. (5:14)
CARD: Computer-Aided Remote Driving, 1988 		Telerobot Testbed, Research Demonstrations, 1988 - Shown is a demonstration of a prototype system for robotic satellite servicing. Highlighted subsystems include a graphical user interface for telemetry and sequencing, a three manipulator system with dual-arm control and stereo camera positioning, and a vision system for matching environmental models to imagery. Specific capabilities shown are tracking and capture of a rotating satellite, and manipulation of an auxiliary task board. (11:30)
Telerobot Testbed, Research Demonstrations, 1988


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