Mechatronics

  

Algorithms are only as good as the hardware that runs them. Our mechatronics research bridges the gap between software concepts and physical space-representative systems, ensuring that autonomy techniques are tested on platforms that reflect real mission constraints. We collaborate closely with ESA's Automation and Robotics Section and have contributed to the design, testing, and continuous evolution of the HDPR, ExoTeR, MaRTA, and RAT rover testbeds over a decade. These platforms that have served as the reference hardware for European planetary robotics. Our embedded systems work covers custom actuator electronics, real-time control loops, and hardware-in-the-loop (HIL) simulation frameworks that allow software stacks to be tested against realistic rover dynamics before field deployment. On the sensing side, we have designed and characterized novel sensor suites including six-axis force–torque arrays at each wheel and thermal camera rigs, contributing open datasets that are now used by teams worldwide. The mechatronics experience is also being transferred to the orbital domain with the design of an extensible mechanism for reliable satellite swarm formation flying in microgravity.

KEY CAPABILITIES
Rover testbed development  Supported the design, integration, and continuous evolution of HDPR, ExoTeR, MaRTA, and RAT platforms in collaboration with ESA	Hardware-in-the-loop simulation HIL frameworks couple physics-based rover simulators with real embedded controllers for pre-field software validation.
Custom sensor suite integration 6-axis F/T sensors at each wheel, LWIR camera rigs, and multimodal data acquisition validated in Martian chamber tests.	Embedded systems & real-time control Low-latency embedded control for over-actuated platforms; deployment-ready implementations compatible with ROS.

 

IN THE LAB & IN THE FIELD

 

SELECTED PUBLICATIONS
01	Field Assessment of Force Torque Sensors for Planetary Rover Navigation Gerdes L., Pérez-del-Pulgar C., Castilla-Arquillo R., Azkarate M. Journal of Intelligent and Robotic Systems, 111(4) (2025)
02	Extensible Hook System for Rendezvous and Docking of a CubeSat Swarm Pérez-del-Pulgar, C., Palomeque, A.L., Juli, J. and Madi, M Engineering Proceedings, 90(1), p.33. (2025)
03	Design, Testing, and Evolution of Mars Rover Testbeds: European Space Agency Planetary Exploration Azkarate M., Gerdes L., Wiese T., Zwick M., Pagnamenta M., Hidalgo-Carrió J., Poulakis P., Pérez-del-Pulgar C.J. IEEE Robotics & Automation Magazine, 29(3), 10–23 (2022)
04	Choosing the Best Locomotion Mode in Reconfigurable Rovers Pérez-del-Pulgar C.J., Romeo-Manrique P., Paz-Delgado G.J., Sánchez-Ibáñez J.R., Azkarate M. Electronics, 8(7), 818 (2019)

 

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