A well developed technology of coordination of multi-limbed locomotory systems is now available. Results from a NASA sponsored study of several years ago are presented. This was a simulation study of a three-limbed locomotion/manipulation system. Each limb had six degrees of freedom and could be used either as a locomotory grasping hand-holds, or as a manipulator. The focus of the study was kinematic coordination algorithms. The presentation will also include very recent results from the Adaptive Suspension Vehicle Project. The Adaptive Suspension Vehicle (ASV) is a legged locomotion system designed for terrestrial use which is capable of operating in completely unstructured terrain in either a teleoperated or operator-on-board mode. Future development may include autonomous operation. The ASV features a very advanced coordination and control system which could readily be adapted to operation in space. An inertial package with a vertical gyro, and rate gyros and accelerometers on three orthogonal axes provides body position information at high bandwidth. This is compared to the operator's commands, injected via a joystick to provide a commanded force system on the vehicle's body. This system is, in turn, decomposed by a coordination algorithm into force commands to those legs which are in contact with the ground.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Multi-limbed locomotion systems for space construction and maintenance


    Beteiligte:
    Waldron, K. J. (Autor:in) / Klein, C. A. (Autor:in)


    Erscheinungsdatum :

    1987-07-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :



    Multi-Limbed Rover for Asteroid Surface Exploration Using Static Locomotion

    Chacin, M. / Yoshida, K. / European Space Agency | British Library Conference Proceedings | 2005


    Tracking loose-limbed people

    Sigal, L. / Bhatia, S. / Roth, S. et al. | IEEE | 2004


    Optimal Contact Force Distribution for Multi-Limbed Robots

    Hong, Dennis W. | Online Contents | 2006