ICRA'09 Paper Abstract


Paper FrD10.4

Chacin Torres, Marco Antonio (Cyberdyne Inc. / University of Tsukuba), Yoshida, Kazuya (Tohoku University), Mora Vargas, Andres Esteban (Tohoku University)

Motion Control of Multi-Limbed Robots for Asteroid Exploration Missions

Scheduled for presentation during the Regular Sessions "Space Robotics" (FrD10), Friday, May 15, 2009, 16:30−16:50, Room: 502

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Space Robotics, Legged Robots and Humanoid Locomotion, Force Control


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.



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