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Sinck, Marc (author)A prototype lunar rover is in development by students of the TU Delft since 2017. It is a nanorover based on the terrestrial ZeBRo design, now named the Lunar Zebro. The Lunar Zebro is a prototype design as a proof of concept for nanorover capabilities. With a chassis of 200 by 140 by 60 millimeters, fitting on a sheet of A5 paper, the Lunar...master thesis 2023
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Appelman, Tycho (author), Bruinsma, Carli (author), Ouaissa, Anass (author)Lunar dust presents a serious problem for future lunar rovers. Due to the charged nature of this fine dust, it tends to stick to sensitive elements like solar panels. It is clear that a system needs to be implemented in order to remove lunar dust to keep the output power of the solar panel at a satisfactory level. This paper develops the proof...bachelor thesis 2023
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Geerling, Tom (author), Mihankhah, Mehrdad (author), Plantfeber, Tim (author)One of the major challenges faced by future robotic and human missions to Mars and the Moon is the presence of atmospheric dust. The Lunar Zebro rover which is intended to walk on the Moon is powered by solar panel. Due to its surrounding terrain, which mostly consists of small particles, the rover may be a potential target for dust accumulation...bachelor thesis 2023
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van den Berg, Rob (author)The problem of finding a target and forming a path to it is known and is well-explored in the field of swarm robotics. Using swarm intelligence, even swarms of simple robots are capable of solving this problem. However, often these works assume that two robots can perceive each other can physically reach each other, or that robots can detect any...master thesis 2023
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Gelling, Lars (author)The unique six-legged swarming rover Lunar Zebro is designed and produced by students from the Delft University of Technology. The objective of the rover is to accomplish an autonomous mission on the Lunar surface by 2024. This thesis evaluates a path planning algorithm that is designed for autonomous navigation in the Lunar environment. The...master thesis 2023
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Shanbhag, Abhimanyu (author)A miniaturized instrument was developed to enable in-situ measurements of the radiation environment at the Moon. The instrument is designated to function as the science payload for the first mission of the Lunar Zebro nano-rover. Characterization and testing of the Floating Gate Dosimeter (FGDOS) was advanced with an emphasis on its utilization...master thesis 2022
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Solot, Elke (author)Hexapod robots are becoming increasingly popular for navigating and exploring irregular and inhospitable environments. The Lunar Zebro is such a hexapod robot that has been developed to be the lightest and smallest rover to explore the moon. The purpose of the Lunar Zebro is to navigate the surface of the moon where it will encounter difficult...master thesis 2022
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Rovers, Stijn (author)The Lunar Zebro is a small six-legged robot. It has the potential to be used in a swarm carrying out objectives like exploring planetary surfaces. A new step towards autonomous navigation is made with the newly developed Obstacle Processing ALgorithm (OPAL) using primarily open-source libraries. This study showed that the initial iteration of...master thesis 2021
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Bongaardt, Laura (author)Robots that use legged locomotion have the ability to overcome obstacles and can negotiate a wide range of difficult terrains, such as encountered in outer-space missions. In many practical scenarios however, their applicability is still limited, mainly due to insufficient speed and efficiency. On the other hand, robots that use wheeled...master thesis 2021
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Erkelens, Folkert (author)Legged locomotion is a discrete event system (DES) due to the ever changing contact states of each leg. As such, it requires a nonlinear modelling method to predict the trajectory of a legged robot. One such robot has been focused on throughout this thesis; the six legged "Zebro''. With its half-circular legs, the Zebro is well suited for...master thesis 2021
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Agrawal, Charu (author)Imagine being lost in a desert with a bunch of friends, all of a sudden. Survival will be difficult. You will have mirages, distrust among friends and no means to leave landmarks on the sand. Unable to locate yourself, you will have no means to contact people with maps. The best you can do in such a situation is to stay together in the vicinity...master thesis 2019
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Rouwen, Floris (author)The TU Delft ZEs-Benige RObot (Zebro) project is presented with the opportunity to bring the Zebro concept to the surface of our moon. To maximise the probability of success, the Locomotion Sub-System (LSS) software of Lunar Zebro is developed using a novel model-driven design tool called Dezyne. Dezyne uses a proprietary language to describe...master thesis 2018
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Miog, Jeffrey (author)This report covers the development of the Locomotion system for the Lunar Zebro that is responsible for the positioning control of the six legs and the operating of the solar panel. It covers the initial problem analysis, requirement discovery, conceptual design, part identification for implementation, implementation and the first tests, their...master thesis 2018
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Kinkelaar, Laurens (author)The ZeBRo (Dutch abbreviation: Zesbenige Robot, six-legged robot), is a walking robot designed by the TU Delft, with its foundations on the RHex. The current version of the ZeBRo project, the DeciZebro, is made for the research to swarming in robotics, and is about the size of an A4-paper. <br/>To counter these shortcomings of CPG (a method to...master thesis 2018
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de Groot, Jurriaan (author)Nature has found many interesting solutions to similar problems that we face with robots. Swarming in robotics is an interesting field to reduce cost and risk, and provide a scalable solution to certain problems. The Zebro Project of the TU Delft performs research in the field of swarm robotics using the six legged robot, called a Zebro. Swarm...master thesis 2017
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Suriana, William (author)Legged locomotion is an example of a discrete event system (DES) with only synchronization and no concurrency. This particular kind of DES can be framed in max-plus algebra, which consists of maximization and addition as its basic operations. Utilizing the max-plus operations between matrices, max-plus linear (MPL) system is constructed.<br/><br...master thesis 2017
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Carpaij, Jonas (author), Chandi, Mitchel (author)<br/>bachelor thesis 2017
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Oosterlee, Oxana (author), Peterse, Sjors (author)A Camera Submodule for the Environment Observation Module for a Zebro robot was designed. It is able to collect and process data about obstacles on a Raspberry Pi and send this to the main processor of the Environment Observation module using UART. <br/>The two main functions that were implemented are a laser rangefinder based on triangulation...bachelor thesis 2017
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van Leeuwen, Sander (author), Goris, Peggy (author)This bachelor thesis is about the design of the Safety and Sensing module, which is part of the Environment Observation Module for Deci Zebro robots. This Environment Observation Module is developed at the faculty of Electrical Engineering, Mathematics and Computer Science (EEMCS) of Delft University of Technology. Zebro robots were not able to...bachelor thesis 2017
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Dullaart, Bob (author), van der Kamp, Pieter (author)In this thesis we will walk you through the design choices we made in designing a battery management system (BMS) for the Zebro robot. This specific BMS is designed as a subcomponent of an autonomous charging system. The main goal of this BMS is to safely charge and discharge the systems battery, while providing the system with relevant data on...bachelor thesis 2017
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