Motion control of multi-limbed robots for asteroid exploration missions

Marco Chacin; Andres Mora; Kazuya Yoshida

doi:10.1109/ROBOT.2009.5152882

Motion control of multi-limbed robots for asteroid exploration missions

Marco Chacin, Andres Mora, Kazuya Yoshida

ENG - Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	3037-3042
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2009.5152882
Publication status	Published - 2009 Nov 2
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: 2009 May 12 → 2009 May 17

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	09/5/12 → 09/5/17

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2009.5152882

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Motion control of multi-limbed robots for asteroid exploration missions. / Chacin, Marco; Mora, Andres; Yoshida, Kazuya.

2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 3037-3042 5152882 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Chacin, M, Mora, A & Yoshida, K 2009, Motion control of multi-limbed robots for asteroid exploration missions. in 2009 IEEE International Conference on Robotics and Automation, ICRA '09., 5152882, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3037-3042, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 09/5/12. https://doi.org/10.1109/ROBOT.2009.5152882

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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.

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Motion control of multi-limbed robots for asteroid exploration missions

Abstract

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