Ground Experiment Evaluations of Reconfigurable Brachiating Space Robot RBR
نویسندگان
چکیده
We have developed the system of "Reconfigurable Brachiating Space Robot (RBR)". This space robot is designed based upon the modularized design, the cable reduction and the distributed control technique. This robot is capable of moving over the “KIBO” (Japanese Experimental Module) of the International Space Station in a brachiating manner and also capable of arm reconfiguration according to the various task requirements. This paper presents the capabilities of the RBR, mainly, the capability of grasping the handrails and the reconfiguration mechanism. We conduct experiments for evaluation of brachiation and reconfiguration of the RBR, and explain the result of these experiments.
منابع مشابه
Research and Development of Reconfigurable Brachiating Space Robots
This paper presents a summary of the system of "Reconfigurable Brachiating Space Robot". The robot consists of a center hub and three 6 degree-of-freedom arms with an end-effector and a pivot, which has a reconfigurable mechanism, for each arm. This space robot is capable of moving over the Japanese Experimental Module of the International Space Station in a brachiating manner and also of arm r...
متن کاملReconfigurable On-orbit Experimental Testbed by Brachiating Manipulators
It has started assembling International Space Station in orbit to promote realistic space utilization including acquisition of advanced and challenging technologies for the next generation of space development. The proposed reconfigurable on -orbit experimental testbed is capable of efficiently testing and verifying various technologies on orbit environment. The testbed concept, designed to be ...
متن کاملRobot Brachiation Control Using Dynamic Programming
We have created a simulated environment in Matlab that models a 2D 2-link brachiating robot using Lagrangian dynamics. We then developed a dynamic programming based control scheme to allow the robot to perform swingup and continuous contact brachiating swing.
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملRobot Brachiation With Energy Control
Branching structures are ubiquitous elements in several environments on Earth, from trees found in nature to man-made trusses and power lines. Being able to navigate such environments provides a difficult challenge to robots ill-equipped to handle the task. In nature, locomotion through such an environment is solved by apes through a process called brachiation, where movement is performed by ha...
متن کامل