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VIDEO GALLERY - SYSTEMS' VIDEOS
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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 		ATHLETE Lunar Landing Test, 2007 - This video shows ATHLETE dropping from a height of 1m. 5/6 of the vehicle's weight is compensated by the test fixture to simulate landing in the 1/6g lunar environment.
ATHLETE Lunar Landing Test, 2007 		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 		ATHLETE Scooping - Toolcam View - This clip is assembled from individual toolcam images taken as ATHLETE scooped surface material using a wheel-mounted shovel.
ATHLETE Scooping - Toolcam View
 
Coordinated Lift of a Bulky Payload using two ATHLETE Robots, 2007 - This video shows two ATHLETE robots cooperatively lifting and repositioning a bulky payload. The container used as a payload in this exercise weighs approximately 200kg. (0:31)
Coordinated Lift of a Bulky Payload using two ATHLETE Robots, 2007 		ATHLETE Active Compliance, 2007 - This short clip shows ATHLETE turning in place on uneven ground. The leg positions are actively controlled to keep the rover deck level as the wheel heights follow the terrain. (10 seconds)
ATHLETE Active Compliance, 2007 		ATHLETE Airlock Alignment and Docking - This video demonstrates the ATHLETE's fine positioning capability. Two frames (representing airlock doorframes) are aligned and then 'docked' together. Through coordinated limb movements, ATHLETE's deck can be positioned with sub-centimeter accuracy.
ATHLETE Airlock Alignment and Docking 		ATHLETE Climbs a 1m Step, 2006 - This video shows ATHLETE negotiating a 1m vertical step in a natural environment. The rocky rubble below the step increases the difficulty of the maneuver. In the laboratory, ATHLETE has been demonstrated to mount steps of nearly 2m in height. (0:42)
ATHLETE Climbs a 1m Step, 2006
 
ATHLETE Drives with Lunar Time-Delay - In this video, ATHLETE drives across sloped rolling terrain, keeping its deck level and actively distributing weight among its six legs. During this demonstration, the robot was navigated by remote operators who could not directly view ATHLETE's position or progress. The operators used imagery and data returned by the robot over a communication link delayed by several seconds to imitate the communication delay between the Earth and the Moon.
ATHLETE Drives with Lunar Time-Delay 		ATHLETE Rappels, 2006 - In this clip, ATHLETE is outfitted with a Winch tool to provide rappelling support during descent of a steep hillside. As this was one of the earliest tests, a relatively shallow hillside was selected to minimize danger to the robot in the event of a winch or cable failure. The winch tool is fixed to the side of ATHLETE's deck using the standard docking adaptors. (1 min)
ATHLETE Rappels, 2006 		ATHLETE Climbs a 15-deg slope, 2006 - In this video, ATHLETE climbs a 15-degree slope, keeping its deck level and actively complying to the rolling, obstacle-strewn terrain. (3:17)
ATHLETE Climbs a 15-deg slope, 2006 		ATHLETE Climbs a Rocky Promontory - This clip shows ATHLETE negotiating the rocky top of a hill with obstacles larger than 1/2 the robot's wheel diameter. The hillside slope is approximately 15 degrees.
ATHLETE Climbs a Rocky Promontory
 
ATHLETE Descends a 15-degree Slope - In this clip, ATHLETE descends a slope of about 15-degrees while maintaining a level deck and actively complying to the rolling, obstacle-strewn terrain.
ATHLETE Descends a 15-degree Slope 		ATHLETE Driving - Navcam View - This animation is built from a series of individual images from ATHLETE's Navigation Cameras to demonstrate the viewpoint of a remote operator. Each of the six sides of the robot deck contains a camera pair, providing the operator with a 360-degree stereo view of the robot's surroundings. Although this clip is shown in black and white, the navcams can also provide color imagery.
ATHLETE Driving - Navcam View 		ATHLETE Gripper - Toolcam View -
ATHLETE Gripper - Toolcam View 		ATHLETE Packs Up to Go Home - This video shows how the ATHLETE robots, which stand about 2m (6') tall and weigh 950kg (~1 ton) are packed to travel home from a field site. Each robot climbs atop a flatbed truck and then tucks its limbs up and inside to comply with highway width restrictions.
ATHLETE Packs Up to Go Home
 
ATHLETE Self-Inspection - In this clip, ATHLETE demonstrates the capability to use each leg as a 6 DOF manipulator while seated on the ground. The animation is assembled from images taken by the robot's toolcams (located on the wheels) as they inspect the Pressurized Robot Compartment atop ATHLETE's deck.
ATHLETE Self-Inspection 		ATHLETE Deposits Material with Bulldozer Blade - In this clip, ATHLETE deposits material from its bulldozer tool onto the ground.
ATHLETE Deposits Material with Bulldozer Blade 		ATHLETE Digs with a Bulldozer Blade Tool - In this video, ATHLETE demonstrates use its legs as coordinated, paired manipulators. The Bulldozer blade is supported on each side by an ATHLETE limb. The blade angle is controlled by the wheel drive motors.
ATHLETE Digs with a Bulldozer Blade Tool 		ATHLETE Drilling with 1m Auger Tool, 2006 - In this video, ATHLETE demonstrates drilling with a detachable 1m auger tool. (0:45)
ATHLETE Drilling with 1m Auger Tool, 2006
 
ATHLETE Stowed Pose -
ATHLETE Stowed Pose 		ATHLETE Docking Demonstration, 2005 - This video shows the docking of three ATHLETE robots into one large, 18-limbed platform. The robot faces are aligned using stereo imagery and colored alignment targets. A clamping mechanism installed in each docked face secures the robot decks together. (1:20)
ATHLETE Docking Demonstration, 2005 		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
 
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 		Urbie, Indoor Navigation, 2001 - Urbie uses ladar to nagigate through obstacles indoors.
Urbie, Indoor Navigation, 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 		FIDO, Exploration Technology Rover, 1999 - Descriptions of FIDO rover development and first field tests at Silver Lake, California. (7:47)
FIDO, Exploration Technology Rover, 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) 		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
 
RAMS, Robot Assisted Micro Surgery, 1997 - Description, demonstration, and medical test results for the RAMS system are provide. Features include force reflection and scaling, miniature forceps for suturing or particle capture, and dual arm coordination. (5 min)
RAMS, Robot Assisted Micro Surgery, 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 		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)
 
Rocky 7, Rover Technology Research, 1995 - This video describes the development of the Rocky 7 research rover. Featured are demonstrations of a new manipulator design for spectrometer pointing and terrain sampling, autonomous localization by a lander viewing a colored cylinder on the rover, obstacle detection and goal confirmation using stereo vision, and multiple science task execution per communication cycle. The manipulator capabilites are shown in the captured images above. More details of this work may be found in R. Volpe, J. Balaram, T. Ohm, and R. Ivlev, <a href=http://www-robotics.jpl.nasa.gov/publications/Richard_Volpe/iros96.pdf target=_blank>The Rocky 7 Mars Rover Prototype</a>, IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), Osaka, Japan, November 4-8, 1996. (7min)
Rocky 7, Rover Technology Research, 1995 		RAMS, Robot Assisted Micro Surgery, 1994 - The RAMS manipulation system is shown performing high precision force and position control. (5 min)
RAMS, Robot Assisted Micro Surgery, 1994


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