Julia Di
Ph.D. Student in Mechanical Engineering, admitted Autumn 2018
All Publications
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AstrobeeCD: Change detection in microgravity with free-flying robots
ACTA ASTRONAUTICA
2024; 223: 98-107
View details for DOI 10.1016/j.actaastro.2024.06.037
View details for Web of Science ID 001267354500001
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Locomotion as manipulation with ReachBot.
Science robotics
2024; 9 (89): eadi9762
Abstract
Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines and provide ReachBot with a large workspace, allowing it to achieve force closure in enclosed spaces, such as the walls of a lava tube. To propel ReachBot, we present a contact-before-motion planner for nongaited legged locomotion that uses internal force control, similar to a multifingered hand, to keep its long, slender booms in tension. Motion planning also depends on finding and executing secure grips on rock features. We used a Monte Carlo simulation to inform gripper design and predict grasp strength and variability. In addition, we used a two-step perception system to identify possible grasp locations. To validate our approach and mechanisms under realistic conditions, we deployed a single ReachBot arm and gripper in a lava tube in the Mojave Desert. The field test confirmed that ReachBot will find many targets for secure grasps with the proposed kinematic design.
View details for DOI 10.1126/scirobotics.adi9762
View details for PubMedID 38630805
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Detecting Grasping Sites in a Martian Lava Tube: Multi-Stage Perception Trade Study for ReachBot
IEEE. 2024
View details for DOI 10.1109/AERO58975.2024.10521034
View details for Web of Science ID 001229648400058
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A Skeleton-based Approach For Rock Crack Detection Towards A Climbing Robot Application
IEEE COMPUTER SOC. 2023: 166-173
View details for DOI 10.1109/IRC59093.2023.00036
View details for Web of Science ID 001195993100030
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A multi-lander New Frontiers mission concept study for Enceladus: SILENUS
FRONTIERS IN ASTRONOMY AND SPACE SCIENCES
2022; 9
View details for DOI 10.3389/fspas.2022.995941
View details for Web of Science ID 000877282600001
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A Multi-Axis FBG-Based Tactile Sensor for Gripping in Space
IEEE. 2021: 1794-1799
View details for DOI 10.1109/IROS51168.2021.9635998
View details for Web of Science ID 000755125501061