Motion control of multi-limbed robots for asteroid exploration missions

Marco Chacin, Andres Mora, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 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 languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages3037-3042
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 2
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 2009 May 122009 May 17

Publication series

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

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period09/5/1209/5/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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