2013
DOI: 10.5772/56798
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Mechanism Design and System Control for Humanoid Space Robot Movement Using a Simple Gravity-Compensation System

Abstract: Space robots are an effective resource for astronauts working in a dangerous space environment. This paper proposes and implements a system to validate the performance of robot movement in space. A humanoid robot was designed with a vision-based self-calibration and navigation system. In addition, a path planning method was proposed to minimize joint torque. Simple gravity-compensation equipment with active and passive mechanisms was proposed. However, the flexible connection required for free movement between… Show more

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Cited by 12 publications
(6 citation statements)
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“…8 In recent years, NASA's astronaut Robonaut 2 and Japanese robot astronaut KIROBO have launched into the international space station to serve the astronaut. 9,10 Robonaut 2 is a dual-arm humanoid robot with seven degrees of freedom (DOFs) in each of its arms, and a five-finger dexterous hand with 12 DOFs is installed at the end of the arm. It can use a variety of astronaut tools for dual-arm collaborative and dexterous operation in space.…”
Section: Introductionmentioning
confidence: 99%
See 1 more Smart Citation
“…8 In recent years, NASA's astronaut Robonaut 2 and Japanese robot astronaut KIROBO have launched into the international space station to serve the astronaut. 9,10 Robonaut 2 is a dual-arm humanoid robot with seven degrees of freedom (DOFs) in each of its arms, and a five-finger dexterous hand with 12 DOFs is installed at the end of the arm. It can use a variety of astronaut tools for dual-arm collaborative and dexterous operation in space.…”
Section: Introductionmentioning
confidence: 99%
“…11 Therefore, it is essential to develop a robot astronaut for the Chinese space station, and the robot has a general and dexterous operation ability, also can interact with astronaut more friendly. 12 Different from the single-arm robot, the robot astronaut will inevitably use both arms to grasp the load and transfer it. Under this condition, the double arms and the load form a closed-chain movement mechanism, and the two arms keep contact with the load during the movement.…”
Section: Introductionmentioning
confidence: 99%
“…China is also carrying out ambitious space exploration programmes, including a Chinese space station plan and Moon/Mars landing and sampling plans. Humanoid robots with high flexibility and mobility are under development to meet the complex space missions [8]. Coordinated motion planning is the key to its applications.…”
Section: Introductionmentioning
confidence: 99%
“…The buoyancy method needs to seal the robot, while there is also a factor in water tension during testing. Therefore, this paper proposes a passive mechanism to simulate a microgravity environment for the ASTROBOT research [22]. The mechanism comprises three main parts: a horizontal tuning mechanism, a motion mechanism and a gravity compensation mechanism (Fig.…”
Section: Figure 8 Astrobot Systemmentioning
confidence: 99%
“…(22). When the robot astronaut is climbing, the virtual spring position can be adjusted to the expected motion state in the impedance controller using the provided forgetting factor function.…”
Section: Forgetting Factor Function For Adaptive Impedance Controllermentioning
confidence: 99%