Follow this link to skip to the main content
  NASA Logo
Jet Propulsion Laboratory
California Institute of Technology
+ View the NASA Portal
Search JPL
JPL Home Earth Solar System Stars and Galaxies Technology
JPL Robotics
Search Robotics
 
Home Page
Applications
Projects
Tasks
Groups
People
Systems
Facilities
Publications
Patents
Awards
News
Image Gallery
Video Gallery
Charter
Links
 
VIDEO GALLERY - TASKS' VIDEOS
underline
Select a video to view.

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 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 		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
 
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 		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 		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 		Webcrawler V2 - 2003 - The second Micro-Robot Explorer was designed to crawl across a mesh using six legs with force-feedback grippers.
Webcrawler V2 - 2003 		Brachiation Bot - 2003 - As part of the Micro-Robot Explorer task, a mesh-crawling robot was created using the minimum number of actuators to traverse the mesh - the BrachiationBot.
Brachiation Bot - 2003
 
Spiderbot Demo - 2002 - The Spiderbot design evolution is shown, resulting in a mobile hexapod with onboard processing, power, and communications. A year-end demonstration of the Spiderbot showed the robot repairing a broken communication relay line using its onboard radio.
Spiderbot Demo - 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 		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
 
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 		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 		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) 		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 		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 		Hazbot III, Emergency Response Robotic Vehicle, 1994 - Hazbot is shown performing in a simulated emergency situation with the JPL Fire Department. The scenario shows the robot responding to a simulated chemical spill, and highlights its operator control, onboard imaging and chemical sensors, and manipulation capability. (6 min)
Hazbot III, Emergency Response Robotic Vehicle, 1994 		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 		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 		Advanced Teleoperation, Simulated Solar Max Repair, 1991 - Demonstration of technology for satellite servicing using dual-arm force-reflecting teleoperation. (3:49)
Advanced Teleoperation, Simulated Solar Max Repair, 1991 		Advanced Teleoperation, 1990 - Dual Arm manipulation with two Puma arms is achieved using compliance control and force reflected teleoperation by 6 axis hand controllers. Manipulation of a task panel and jointly held objects is demonstrated. (5 min)
Advanced Teleoperation, 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 		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


Privacy/Copyright Glossary Sitemap Feedback Contact Us
USA GOV website - Your first click to the U.S. Government.   National Aeronautics and Space Administration website.     Curator: Richard Volpe
  Webmaster: Cecelia Lawshe