Abstract
This paper presents a study to experimentally evaluate a new design paradigm for robotic components, with emphasis on space robotics applications. In this design paradigm, robotic components are made from embedded binary actuators and compliant mechanisms in order to reduce weight and complexity. This paper presents a series of five experiments that demonstrate the concept. These studies include a reconfigurable rocker suspension for rocker-bogie rovers, a sample acquisition gripper, a pantograph mechanism for robotic legs, an articulated binary limb, and a hyper-degree-of-freedom mechanism building block.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Weisbin C, Rodriguez G, Schenker P, et al 1999 Autonomous Rover Technology for Mars Sample Return. International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS’99), 1–10
Madden J D, Cush R A, Kanigan T S, et al 2000 Fast-contracting Polypyrrole Actuators. Synthetic Metals, 113: 185–193
Pelrine R, Kornbluh R, Pei Q, et al 2000 High-speed Electrically Actuated Elastomers with Over 100% Strain. Science, Vol. 287, No. 5454, 836–839
Anderson V C, Horn R C 1967 Tensor Arm Manipulator Design. ASME paper, 67-DE-57
Roth B, Rastegar J, Scheinman V 1973 On the Design of Computer Controlled Manipulators. First CISM-IFTMM Symposium on Theory and Practice of Robots and Manipulators, 93–113
Goldberg K 1992 Orienting Polygonal Parts Without Sensors. Algorithmica, special robotics issue
Canny J, Goldberg K 1993 A RISC Paradigm for Industrial Robotics. Tech. Rep. ESCR 93-4/RAMP 93-2, Engineering Systems Research Center, University of California at Berkeley
Chirikjian G S 1994 A Binary Paradigm for Robotic Manipulators. Proc. IEEE International Conf. on Robotics and Automation, 3063–3069
Ebert-Uphoff I, Chirikjian G S 1996 Inverse Kinematics of Discretely Actuated Hyper-Redundant Manipulators Using Workspace Densities. Proc. IEEE International Conf. on Robotics and Automation, 139–145
Lees D S, Chirikjian G S 1996 A Combinatorial Approach to Trajectory Planning for Binary Manipulators. Proc. IEEE International Conf. on Robotics and Automation, 2749–2754
Iagnemma K, Rzepniewski A, Dubowsky S, et al 2000 Mobile Robot Kinematic Reconfigurability for Rough-Terrain. Proceedings of the SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III
Burn R D 1998 Design of a Laboratory Test Bed for Planetary Rover Systems. Master Thesis, Department of Mechanical Engineering, MIT
Iagnemma K, Burn R, Wilhelm E, et al 1999 Experimental Validation of Physics-Based Planning and Control Algorithms for Planetary Robotic Rovers. Proceedings of the Sixth International Symposium on Experimental Robotics, ISER’ 99
Oropeza G 1999 The Design of Lightweight Deployable Structures for Space Applications. Bachelor Thesis, Department of Mechanical Engineering, MIT
Andrews E K 2000 Elastic Elements with Embedded Actuation and Sensing for Use in Self-Transforming Robotic Planetary Explorers. Master Thesis, Department of Mechanical Engineering, MIT.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2001 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lichter, M.D., Sujan, V.A., Dubowsky, S. (2001). Experimental Demonstrations of a New Design Paradigm in Space Robotics. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_23
Download citation
DOI: https://doi.org/10.1007/3-540-45118-8_23
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-42104-7
Online ISBN: 978-3-540-45118-1
eBook Packages: Springer Book Archive