GITAI’s Lunar Robotic Rover R1 in a Simulated Environment

GITAI has developed a lunar robotic rover called R1 used for moon exploration, mining, inspection, and sampling. Several testing tasks and operations have been successfully completed by the rover in a simulated environment.  GITAI's Lunar Rover. Image credit: GITAI The robotic rover has successfully completed different tests on a mock environment, including testing its locomotion and obstacle avoidance abilities, as well as building solar panels and taking samples. The lunar rover is building a solar panel. Image credit: GITAI The lunar rover is taking samples. Image credit: GITAI Thanks to its omni-directional wheels, the robotic lunar rover could move over…

Explicit Representation of the Orientation: Exponential Coordinates

In the previous lesson, we became familiar with rotation matrices, and we saw that the nine-dimensional space of rotation matrices subject to six constraints (three unit norm constraints and three orthogonality constraints) could be used to implicitly represent the three-dimensional space of orientations. There are also methods to express the orientation with a minimum number of parameters (three in three-dimensional space). Exponential coordinates that define an axis of rotation and the angle rotated about that axis, the three-parameter Euler angles, the three-parameter roll-pitch-yaw angles, the Cayley-Rodrigues parameters, and the unit quaternions (use four variables subject to one constraint) are some of…

Implicit Representation of the Orientation: a Rotation Matrix

In the previous lesson, we became familiar with the concept of the configuration for the robots, and we saw that the configuration of a robot could be expressed by the pair (R,p) in which R is the rotation matrix that implicitly represents the orientation of the body frame with respect to the reference frame and p is the position of the origin of the body frame relative to the space frame. In this lesson, we will focus on the orientation, and we will see that we can implicitly represent the orientation using powerful tools named rotation matrices, and we will…