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FRESCO: A Framework for Spacecraft Systems Autonomy

Achieving the science exploration and defense goals of the following decades will require flight systems capable of operations with limited operator contact, system mode changes and retasking based on sensor data, and complex robotic operations. To support these capabilities, increasingly autonomous flight systems are required that can perform dedicated mission functions, e.g. payload targeting and communications, and system-level functions, e.g. planning and goal monitoring. Architecting an autonomous system requires a well-reasoned, self-consistent framework to avoid \textit{ad hoc} design choices that will introduce complexity and risk. The Framework for Robust Execution and Scheduling of Commands On-Board, FRESCO, is the result of lessons learned in developing a software architecture to enable autonomous solar system exploration. FRESCO generalizes this work to offer a modular, software-agnostic approach to developing verifiable architecture for autonomous space systems. FRESCO specifies guiding principles, functions, interfaces, and interactions from which mission-specific autonomous control architectures can be derived. FRESCO is a principled framework relying on explicit, state-based goal definitions, centralized management of state knowledge, clearly separated control boundaries, and hierarchical reasoning. Using components from FRESCO reference architecture, an autonomous decision-making architecture can be designed for spacecraft which can then be mapped to flight software architecture. FRESCO is flexibly defined to enable autonomous control of flight systems built using extensive software and hardware heritage. Finally, FRESCO-derived architectures support a spectrum of operator/spacecraft interactions, ranging from traditional commanding to goal-driven commanding with the ability to change mission goals autonomously. FRESCO has been used in defining the autonomy architectures for the ASTERIA mission and have been demonstrated in laboratory and software simulation for small body rendezvous and in-space servicing missions.

Kolcio, Ksenia

An Aerosol Extinction-to-Backscatter Ratio Database Derived from the NASA Micro-Pulse Lidar Network: Applications for Space-based Lidar Observations

Backscatter lidar signals are a function of both backscatter and extinction. Hence, these lidar observations alone cannot separate the two quantities. The aerosol extinction-to-backscatter ratio, S, is the key parameter required to accurately retrieve extinction and optical depth from backscatter lidar observations of aerosol layers. S is commonly defined as 4*pi divided by the product of the single scatter albedo and the phase function at 180-degree scattering angle. Values of S for different aerosol types are not well known, and are even more difficult to determine when aerosols become mixed. Here we present a new lidar-sunphotometer S database derived from Observations of the NASA Micro-Pulse Lidar Network (MPLNET). MPLNET is a growing worldwide network of eye-safe backscatter lidars co-located with sunphotometers in the NASA Aerosol Robotic Network (AERONET). Values of S for different aerosol species and geographic regions will be presented. A framework for constructing an S look-up table will be shown. Look-up tables of S are needed to calculate aerosol extinction and optical depth from space-based lidar observations in the absence of co-located AOD data. Applications for using the new S look-up table to reprocess aerosol products from NASA's Geoscience Laser Altimeter System (GLAS) will be discussed.

Welton, Ellsworth J.

NASA VERVE: Interactive 3D Visualization Within Eclipse

At NASA, we develop myriad Eclipse RCP applications to provide situational awareness for remote systems. The Intelligent Robotics Group at NASA Ames Research Center has developed VERVE - a high-performance, robot user interface that provides scientists, robot operators, and mission planners with powerful, interactive 3D displays of remote environments.VERVE includes a 3D Eclipse view with an embedded Java Ardor3D scenario, including SWT and mouse controls which interact with the Ardor3D camera and objects in the scene. VERVE also includes Eclipse views for exploring and editing objects in the Ardor3D scene graph, and a HUD (Heads Up Display) framework allows Growl-style notifications and other textual information to be overlayed onto the 3D scene. We use VERVE to listen to telemetry from robots and display the robots and associated scientific data along the terrain they are exploring; VERVE can be used for any interactive 3D display of data.VERVE is now open source. VERVE derives from the prior Viz system, which was developed for Mars Polar Lander (2001) and used for the Mars Exploration Rover (2003) and the Phoenix Lander (2008). It has been used for ongoing research with IRG's K10 and KRex rovers in various locations. VERVE was used on the International Space Station during two experiments in 2013 - Surface Telerobotics, in which astronauts controlled robots on Earth from the ISS, and SPHERES, where astronauts control a free flying robot on board the ISS.We will show in detail how to code with VERVE, how to interact between SWT controls to the Ardor3D scenario, and share example code.

3D Visualization

Biofoundries: Principles, Tools, and Applications

This chapter aims to provide a broad overview of biofoundries and introduces the principles, concepts, and case studies. We first outline the underlying principles of the Design-Build-Test-Learn (DBTL) framework and the role of automation, digital integration, and standardization. The chapter then explores core biofoundry technologies including robotic liquid handlers, high-throughput analytical instruments, and digital infrastructure for data management and workflow scheduling. Case studies spanning DNA assembly, protein engineering, metabolic engineering, and mammalian cell culture demonstrate the practical applications of the biofoundries. Economic and societal impacts are assessed alongside current limitations. We discuss the emerging trends including artificial intelligence integration and cloud-based distributed facilities to highlight its potential for biotechnology and the bioeconomy.

Singh, Nilmani

Metalevel programming in robotics: Some issues

Computing in robotics has two important requirements: efficiency and flexibility. Algorithms for robot actions are implemented usually in procedural languages such as VAL and AL. But, since their excessive bindings create inflexible structures of computation, it is proposed that Logic Programming is a more suitable language for robot programming due to its non-determinism, declarative nature, and provision for metalevel programming. Logic Programming, however, results in inefficient computations. As a solution to this problem, researchers discuss a framework in which controls can be described to improve efficiency. They have divided controls into: (1) in-code and (2) metalevel and discussed them with reference to selection of rules and dataflow. Researchers illustrated the merit of Logic Programming by modelling the motion of a robot from one point to another avoiding obstacles.

Kumarn, A.

A Simulation Framework for Precision Landing and Hazard Avoidance Technology Assessments

To meet NASA’s challenge to return humans to the Moon in 2024 and establish a sustainable presence in 2028 requires advances in autonomous spacecraft navigation. The Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project, which leverages previous work at NASA to develop multi-mission precision landing and hazard avoidance technologies, is using a multi-faceted approach to achieve the advanced landing requirements. In addition to increasing the technology readiness level of key sensors and developing high performance space computing, SPLICE uses simulations to determine navigation requirements and evaluate sensor performance. The effort evaluates various precision landing concepts of operations, not only for the lunar human and robotic missions, but also for potential missions to other solar system destinations. This paper summarizes the six degree-of-freedom high fidelity simulation framework, trajectory design methodology, and sensor models being considered for a variety of precision lander missions. Initial results of the navigation sensor performance for a human Mars mission are presented. Finally, trade and sensitivity studies are outlined for future work to fully characterize sensor performance assumptions and modifications required to achieve precision landing and hazard avoidance.

Alicia Dwyer Cianciolo

Self-organization via active exploration in robotic applications

We describe a neural network based robotic system. Unlike traditional robotic systems, our approach focussed on non-stationary problems. We indicate that self-organization capability is necessary for any system to operate successfully in a non-stationary environment. We suggest that self-organization should be based on an active exploration process. We investigated neural architectures having novelty sensitivity, selective attention, reinforcement learning, habit formation, flexible criteria categorization properties and analyzed the resulting behavior (consisting of an intelligent initiation of exploration) by computer simulations. While various computer vision researchers acknowledged recently the importance of active processes (Swain and Stricker, 1991), the proposed approaches within the new framework still suffer from a lack of self-organization (Aloimonos and Bandyopadhyay, 1987; Bajcsy, 1988). A self-organizing, neural network based robot (MAVIN) has been recently proposed (Baloch and Waxman, 1991). This robot has the capability of position, size rotation invariant pattern categorization, recognition and pavlovian conditioning. Our robot does not have initially invariant processing properties. The reason for this is the emphasis we put on active exploration. We maintain the point of view that such invariant properties emerge from an internalization of exploratory sensory-motor activity. Rather than coding the equilibria of such mental capabilities, we are seeking to capture its dynamics to understand on the one hand how the emergence of such invariances is possible and on the other hand the dynamics that lead to these invariances. The second point is crucial for an adaptive robot to acquire new invariances in non-stationary environments, as demonstrated by the inverting glass experiments of Helmholtz. We will introduce Pavlovian conditioning circuits in our future work for the precise objective of achieving the generation, coordination, and internalization of sequence of actions.

Ogmen, H.

Mission Simulation Toolkit

The Mission Simulation Toolkit (MST) is a flexible software system for autonomy research. It was developed as part of the Mission Simulation Facility (MSF) project that was started in 2001 to facilitate the development of autonomous planetary robotic missions. Autonomy is a key enabling factor for robotic exploration. There has been a large gap between autonomy software (at the research level), and software that is ready for insertion into near-term space missions. The MST bridges this gap by providing a simulation framework and a suite of tools for supporting research and maturation of autonomy. MST uses a distributed framework based on the High Level Architecture (HLA) standard. A key feature of the MST framework is the ability to plug in new models to replace existing ones with the same services. This enables significant simulation flexibility, particularly the mixing and control of fidelity level. In addition, the MST provides automatic code generation from robot interfaces defined with the Unified Modeling Language (UML), methods for maintaining synchronization across distributed simulation systems, XML-based robot description, and an environment server. Finally, the MSF supports a number of third-party products including dynamic models and terrain databases. Although the communication objects and some of the simulation components that are provided with this toolkit are specifically designed for terrestrial surface rovers, the MST can be applied to any other domain, such as aerial, aquatic, or space.

Pisaich, Gregory

Robotic Rock Classification

This report describes a three-month research program undertook jointly by the Robotics Institute at Carnegie Mellon University and Ames Research Center as part of the Ames' Joint Research Initiative (JRI.) The work was conducted at the Ames Research Center by Mr. Liam Pedersen, a graduate student in the CMU Ph.D. program in Robotics under the supervision Dr. Ted Roush at the Space Science Division of the Ames Research Center from May 15 1999 to August 15, 1999. Dr. Martial Hebert is Mr. Pedersen's research adviser at CMU and is Principal Investigator of this Grant. The goal of this project is to investigate and implement methods suitable for a robotic rover to autonomously identify rocks and minerals in its vicinity, and to statistically characterize the local geological environment. Although primary sensors for these tasks are a reflection spectrometer and color camera, the goal is to create a framework under which data from multiple sensors, and multiple readings on the same object, can be combined in a principled manner. Furthermore, it is envisioned that knowledge of the local area, either a priori or gathered by the robot, will be used to improve classification accuracy. The key results obtained during this project are: The continuation of the development of a rock classifier; development of theoretical statistical methods; development of methods for evaluating and selecting sensors; and experimentation with data mining techniques on the Ames spectral library. The results of this work are being applied at CMU, in particular in the context of the Winter 99 Antarctica expedition in which the classification techniques will be used on the Nomad robot. Conversely, the software developed based on those techniques will continue to be made available to NASA Ames and the data collected from the Nomad experiments will also be made available.

Hebert, Martial

Common Metrics for Human-Robot Interaction

This paper describes an effort to identify common metrics for task-oriented human-robot interaction (HRI). We begin by discussing the need for a toolkit of HRI metrics. We then describe the framework of our work and identify important biasing factors that must be taken into consideration. Finally, we present suggested common metrics for standardization and a case study. Preparation of a larger, more detailed toolkit is in progress.

Steinfeld, Aaron

Lunar Asset Messaging and On Orbit Navigation

NASA has titled its 2020 thrust for the Moon, Artemis. The increased focus on the Moon as a destination for future human and robotic expeditions necessitates general purpose navigational and communications infrastructure reducing their complexity to help establish a sustained presence. A framework through which Lunar missions can relay communications and localize their positions shifts the burden from the individual mission and enables resource allocation tailored to mission-specific goals. During the summer of 2020, student interns under the Innovation to Flight (i2F) program at the National Aeronautics and Space Administration’s (NASA) Jet Propulsion Laboratory (JPL) in collaboration with the University of Colorado Boulder designed, built, and tested a prototype framework capable of providing surface assets with communication and positioning services. The team utilized the existing i2F CubeSat bus in addition to developing several CubeSat engineering development units (EDUs), a ground vehicle, and a ground station to simulate a scenario in which a lunar surface mission is supported by these services. A primary goal of the summer was to develop a method for localizing the ground vehicle through trilateration. Distances are inferred from the round-trip time of flight (ToF) of radio signals between an asset and several elements. Signals were sent and received using LimeSDR software defined radios on-board both the ground vehicle and the EDUs; ToF and trilateration were calculated on a Qualcomm Snapdragon development board located within the LA MOON payload data system. The ModalAI chipset on the Qualcomm was instrumental in executing visual based position estimation. Communications was facilitated through a bent-pipe approach addressing the NASA requirement to provide solutions for in communication denied locations. The ground vehicle relayed information to other surface assets in addition to its ground station through the supporting constellation. This project demonstrates the feasibility of a lunar CubeSat constellation for the support of surface assets and explores packaging and operations of the components critical to trilateration and bent-pipe communication into a standard CubeSat form factor. When implemented, this framework will open a door for new surface missions designed with lower power requirements and increased operational access.

Huang, Calvin

SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments

Engineers and scientists often rely on their intuition and experience when designing soft robotic systems. The development of performant controllers and motion plans for these systems commonly requires time-consuming iterations on hardware. We present the SoMo (Soft Motion) toolkit, a software framework that makes it easy to instantiate and control typical continuum manipulators in an accurate physics simulator. SoMo introduces a standardized and human-readable description format for continuum manipulators. It leverages this description format and the Bullet physics engine to enable fast and accurate simulations of soft and soft-rigid hybrid robots in environments with complex contact interactions. This allows users to vary design and control parameters across simulations with minimal effort. We compare the capabilities of SoMo to other physics simulators and highlight the benefits and accuracy of SoMo by demonstrating the agreement between simulation and real-world experiments on several examples; these include an in-hand manipulation task with continuum fingers, an automated exploration of how to design soft fingers for precision grasping, and a brief snake locomotion study. Overall, SoMo provides an accessible way for designers of soft robotic hardware and control systems to gain access to a simulation-accelerated workflow.

Moritz A. Graule

Improving Grasp Skills Using Schema Structured Learning

Abstract In the control-based approach to robotics, complex behavior is created by sequencing and combining control primitives. While it is desirable for the robot to autonomously learn the correct control sequence, searching through the large number of potential solutions can be time consuming. This paper constrains this search to variations of a generalized solution encoded in a framework known as an action schema. A new algorithm, SCHEMA STRUCTURED LEARNING, is proposed that repeatedly executes variations of the generalized solution in search of instantiations that satisfy action schema objectives. This approach is tested in a grasping task where Dexter, the UMass humanoid robot, learns which reaching and grasping controllers maximize the probability of grasp success.

Platt, Robert

Maximally Informative Statistics for Localization and Mapping

This paper presents an algorithm for localization and mapping for a mobile robot using monocular vision and odometry as its means of sensing. The approach uses the Variable State Dimension filtering (VSDF) framework to combine aspects of Extended Kalman filtering and nonlinear batch optimization. This paper describes two primary improvements to the VSDF. The first is to use an interpolation scheme based on Gaussian quadrature to linearize measurements rather than relying on analytic Jacobians. The second is to replace the inverse covariance matrix in the VSDF with its Cholesky factor to improve the computational complexity. Results of applying the filter to the problem of localization and mapping with omnidirectional vision are presented.

Deans, Matthew C.

Robotic Asteroid Prospector (RAP)

This report presents the results from the nine-month, Phase 1 investigation for the Robotic Asteroid Prospector (RAP). This project investigated several aspects of developing an asteroid mining mission. It conceived a Space Infrastructure Framework that would create a demand for in space-produced resources. The resources identified as potentially feasible in the near-term were water and platinum group metals. The project's mission design stages spacecraft from an Earth Moon Lagrange (EML) point and returns them to an EML. The spacecraft's distinguishing design feature is its solar thermal propulsion system (STP) that can provide for three functions:propulsive thrust, process heat for mining and mineral processing, and electricity. The preferred propellant is water since this would allow the spacecraft to refuel at an asteroid for its return voyage to Cis-Lunar space thus reducing the mass that must be staged out of the EML point.The spacecraft will rendezvous with an asteroid at its pole, match rotation rate, and attach to begin mining operations. The team conducted an experiment in extracting and distilling water from frozen regolith simulant.

Cohen, Marc

Overview of NASA ISRU Plans, Priorites, and Activities

Introduction:The National Aeronautics andSpace Administration (NASA) of the United States ofAmerica (US) has initiated the Artemis Moon to Marsprogram to send astronauts (the first woman andperson of color) back to the lunar surface, create asustainable human lunar exploration program, andlead the first human exploration mission to the Marssurface in the 2030’s [1]. A major objective of thisprogram is to characterize the resources that exist onthe Moon and Mars, and learn how to utilize them forsustained and affordable exploration. Commonlyknown as In Situ Resource Utilization (ISRU), thesearch for, acquisition, and processing of resources inspace has the potential to greatly reduce thedependency on transporting mission consumables andinfrastructure from Earth, thereby reducing missioncosts, risks, and dependency on Earth.ISRU is Enabling: Through the extraction andprocessing of resources into mission commoditiessuch as rocket propellants, life support consumables,and fuel cell reactants, ISRU enhances and evolvesthe cis-lunar, lander, and surface transportationsystems required for human exploration; expandingand enhancing HOW humans can explore and returnfrom the Moon. Through the extraction andprocessing of resources into metals, silicon, and othermanufacturing and construction feedstock, ISRUenhances and allows for the expansion of criticalinfrastructure using in situ manufacturing andconstruction capabilities that influence WHAT humanscan do on the Moon and in cis-lunar space. Becauseof this, ISRU supports and enables commercialinvolvement beyond NASA and governmentalagencies by both lowering the cost of sustainedtransportation to/from/on the Moon as well assupporting the market required for needing thesetransportation systems. Strategic Framework:To achieve this vision,NASA’s Space Technology Mission Directorate(STMD) ensures the coordinated development ofISRU and other critical space and surfaceinfrastructure elements such as propulsion, power,manufacturing, construction, and robotics through theStrategic Technology Architecture Roundtable(STAR) process. Through STAR, an integratedframework and process has been created allowing forcapabilities and technologies to be linked andassessed, gaps to be identified, specifications andmetrics to be established, and provide a means toprioritize and implement technology development andmissions. A critical part of the STAR effort has beenthe establishment of the Strategic Framework thatorganizes all work under four major Thrusts (Go,Land, Live, and Explore) and identifies the drivingOutcomes for each of these Thrusts. From the Thrustsand Outcomes, all work can be categorized and linkedbetween Capability Areas, and Technology Gaps canbe identified and addressed (Figure 1.)Figure 1. Strategic Framework and STAR FrameworkISRU Envisioned Future: To drive thedevelopment of technologies and capabilities, theSTAR process starts with establishing a ‘grand vision’of where each Outcome and Capability is aiming tobe considered complete. For ISRU, the EnvisionedFuture is “Scalable ISRU production/utilizationcapabilities including sustainable commodities on thelunar and Mars Surface”. This involves starting with10’s of metric tons of products, but evolves into 100’sto 1000’s of metric tons of water, oxygen, propellants,construction and manufacturing feedstock, andcommodities for habitat and food production andoperations. For ISRU, the ‘Prospect to Product’philosophy starts with Destination Reconnaissance &Resource Assessment, followed by ResourceAcquisition, Isolation, and Preparation, leading intoResource Processing (which is further subdivided intomission consumables and feedstocks for constructionand manufacturing). The ISRU Envisioned Futurealso considers what resources are available andattempts to address what and when these resourceswill be evaluated and harnessed, as well asconsidering which products/commodities can beobtained for early use and which ones require moretime and/or users of refined products.It Takes an Architecture: ISRU does not existon its own. By definition, it requires customers/users SHORT TITLE HERE: A. B. Author and C. D. Authorto use the products/commodities produced by ISRUsystems. Also, for an ISRU capability to exist, itmust obtain products and services from other systemsand infrastructure. An important aspect of the STARprocess and the ISRU Envisioned Futures Prioritiesstrategy is to identify and link all of these systems andcapabilities to achieve the desired end state (Figure2).Figure 2. ISRU as Part of a Larger ArchitectureISRU Capability Drivers: The guidingprinciples for NASA’s Space TechnologyDevelopment for Artemis are to develop criticaltechnologies and capabilities that enable (i) asustainable Lunar surface presence, (ii) the future goalof sending humans to Mars, and (iii) promotingcritical technologies to enable future science andcommercial missions. It is a major goal of theArtemis campaign to establish some sort of base campat the lunar South Pole by approximately the end ofthe decade. The ISRU Envisioned Futures Prioritiesstrategy is aligned with the Artemis campaign todevelop and demonstrate ISRU capabilities in thistimeframe that could lead to sustained surfaceoperations, infrastructure growth, and commercialoperations in the next decade (Figure 3).Figure 3. ISRU Dual Path to Full Implementation and CommercializationState of the Art and Gaps: To achieve theenvisioned future, an extensive effort was performedto understand the State of the Art (SOA) for ISRUgoing back decades, and to assess the SOA against thenear and long-term goals and objectives of the ISRUStrategic Outcome objectives. While the releasedISRU Envisioned Futures Priorities only includes atop-level definition of both the SOA and Gaps, furtherinformation on these for ISRU can be found in theISRU Gap Assessment Study performed for theInternational Space Exploration Coordination Group(ISECG) [2]. To provide further guidance to industryand academia, a top level assessment was performedand provide that divides critical areas of ISRUcapabilities and technologies into 3 categories:Significant Funding, Partially Covered/MoreRequired, and Limited/No Funded Activities.Envisioned Future Priorities- Next Steps forISRU: While a significant amount of work over abroad range of technology areas has been performedover the last several years for lunar ISRU, to reach theenvisioned future for ISRU, a lot more work isrequired at the technology level leading to bothsystems and technology demonstrations in the nearfuture. To guide investments within NASA, industry,and academia, 5 specific areas of high priority wereidentified. These are:1.Complete development of the Water and Oxygen Mining Paths and close technology gaps, with emphasis on oxygen extraction from Highland regolith and parallel paths for polar water mining.2.Expand development of metal extraction and feedstock for manufacturing and construction, with emphasis on aluminum and initial/easy to obtain/make construction feedstocks leading to more refined metals and other regolith resources. Also, evaluate biologically inspired/derived technologies in bio-mining, bio-plastic, and other feedstock commodities.3.Ensure the resource assessment needed for future ISRU commercial operations is coordinated with both near/long-term science objectives as well as Artemis mission locations of interest.4.Initiate NASA and industry-led system-level analyses, integration, and testing activities for ISRU capabilities. While significant work has been performed at the technology and subsystemlevel, it is now important to understand how these technology investments can be leveraged and utilized in actual systems and applications5.Initiate lunar ISRU technology flight demonstrations leading to initial ‘Pilot Plant’ end-to-end production capability demonstrations, led by industry

ISRU

On the design of fault-tolerant robotic manipulator systems

Robotic systems are finding increasing use in space applications. Many of these devices are going to be operational on board the Space Station Freedom. Fault tolerance has been deemed necessary because of the criticality of the tasks and the inaccessibility of the systems to maintenance and repair. Design for fault tolerance in manipulator systems is an area within robotics that is without precedence in the literature. In this paper, we will attempt to lay down the foundations for such a technology. Design for fault tolerance demands new and special approaches to design, often at considerable variance from established design practices. These design aspects, together with reliability evaluation and modeling tools, are presented. Mechanical architectures that employ protective redundancies at many levels and have a modular architecture are then studied in detail. Once a mechanical architecture for fault tolerance has been derived, the chronological stages of operational fault tolerance are investigated. Failure detection, isolation, and estimation methods are surveyed, and such methods for robot sensors and actuators are derived. Failure recovery methods are also presented for each of the protective layers of redundancy. Failure recovery tactics often span all of the layers of a control hierarchy. Thus, a unified framework for decision-making and control, which orchestrates both the nominal redundancy management tasks and the failure management tasks, has been derived. The well-developed field of fault-tolerant computers is studied next, and some design principles relevant to the design of fault-tolerant robot controllers are abstracted. Conclusions are drawn, and a road map for the design of fault-tolerant manipulator systems is laid out with recommendations for a 10 DOF arm with dual actuators at each joint.

Tesar, Delbert

Design and Evolution of a Modular Tensegrity Robot Platform

NASA Ames Research Center is developing a compliant modular tensegrity robotic platform for planetary exploration. In this paper we present the design and evolution of the platform's main hardware component, an untethered, robust tensegrity strut, with rich sensor feedback and cable actuation. Each strut is a complete robot, and multiple struts can be combined together to form a wide range of complex tensegrity robots. Our current goal for the tensegrity robotic platform is the development of SUPERball, a 6-strut icosahedron underactuated tensegrity robot aimed at dynamic locomotion for planetary exploration rovers and landers, but the aim is for the modular strut to enable a wide range of tensegrity morphologies. SUPERball is a second generation prototype, evolving from the tensegrity robot ReCTeR, which is also a modular, lightweight, highly compliant 6-strut tensegrity robot that was used to validate our physics based NASA Tensegrity Robot Toolkit (NTRT) simulator. Many hardware design parameters of the SUPERball were driven by locomotion results obtained in our validated simulator. These evolutionary explorations helped constrain motor torque and speed parameters, along with strut and string stress. As construction of the hardware has finalized, we have also used the same evolutionary framework to evolve controllers that respect the built hardware parameters.

Exploration