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Multi-limbed locomotion systems for space construction and maintenanceA 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.
Document ID
19890017094
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Waldron, K. J. (Ohio State Univ. Columbus, OH, United States)
Klein, C. A. (Ohio State Univ. Columbus, OH, United States)
Date Acquired
September 6, 2013
Publication Date
July 1, 1987
Publication Information
Publication: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 1
Subject Category
Mechanical Engineering
Accession Number
89N26465
Funding Number(s)
CONTRACT_GRANT: NAG1-30
CONTRACT_GRANT: DAAE07-84-K-R001
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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