Taikobot: A Full-Size and Free-Flying Humanoid Robot for Intravehicular Astronaut Assistance and Spacecraft Housekeeping
نویسندگان
چکیده
This paper proposes a full-size and free-flying humanoid robot named Taikobot that aims to assist astronauts in space station maintain spacecrafts between human visits. adopts compact lightweight (?25 kg) design work microgravity, which also reduces launch costs improves safety during human–robot collaboration. Taikobot’s anthropomorphic dual arm system zero-g legs allow it share set of intravehicular human–machine interfaces. Unlike ground-walking robots, maneuvers novel push–flight–park (PFP) strategy as an equivalent astronaut maximize workspace flexibility. We propose PFP motion planning control method based on centroidal dynamics multi-contact model. Based the proposed method, we carried out extensive simulations verified feasibility advantages locomotion strategy. developed prototype several ground experiments typical scenarios where collaborates with astronauts. The show can do some simple repetitive tasks along has potential help improve their onboard working efficiency.
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ژورنال
عنوان ژورنال: Machines
سال: 2022
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines10100933