TY - GEN
T1 - Motion control of multi-limbed robots for asteroid exploration missions
AU - Chacin, Marco
AU - Mora, Andres
AU - Yoshida, Kazuya
PY - 2009/11/2
Y1 - 2009/11/2
N2 - The interest on the study of asteroids has increased due to the recent missions that have been sent to explore such low gravity bodies. Due to its complexity, little attention has been given to close surface analysis by a mobile robotic system. In this paper, the authors present a study on the locomotion of limbed robotic systems based on the detection of friction force in an emulated microgravity environment. The issues rose by the microgravity environment and its effect on the dynamics of such robotic system during motion are addressed, and an algorithm to generate compliant motion gaits is presented. Experimental results show that the control system is capable of maintaining balanced contacts during motions.
AB - The interest on the study of asteroids has increased due to the recent missions that have been sent to explore such low gravity bodies. Due to its complexity, little attention has been given to close surface analysis by a mobile robotic system. In this paper, the authors present a study on the locomotion of limbed robotic systems based on the detection of friction force in an emulated microgravity environment. The issues rose by the microgravity environment and its effect on the dynamics of such robotic system during motion are addressed, and an algorithm to generate compliant motion gaits is presented. Experimental results show that the control system is capable of maintaining balanced contacts during motions.
UR - http://www.scopus.com/inward/record.url?scp=70350379353&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350379353&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152882
DO - 10.1109/ROBOT.2009.5152882
M3 - Conference contribution
AN - SCOPUS:70350379353
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3037
EP - 3042
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -