Motion control of multi-limbed robots for asteroid exploration missions

Marco Chacin, Andres Mora, Kazuya Yoshida

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Robotics and Automation, ICRA '09
ページ3037-3042
ページ数6
DOI
出版ステータスPublished - 2009 11 2
イベント2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
継続期間: 2009 5 122009 5 17

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)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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