No 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.

No abstract

No abstract

Teleoperation has demonstrated its utility to work in hazardous and nonstructured environments. Nuclear and spatial applications have used telerobotics for remote manipulation in assembly or inspection tasks. In the near future, new tasks related with soil movements and other construction and civil engineering activities will be necessary in nuclear and spatial applications . In this paper a teleoperated backhoe excavator, remotely operated using visual and force feedback to the operator is presented. Different force feedback strategies and kinematic master-slave relation are discussed.