Autonomous Robots

, Volume 14, Issue 2–3, pp 225–237 | Cite as

Modular Reconfigurable Robots in Space Applications

  • Mark Yim
  • Kimon Roufas
  • David Duff
  • Ying Zhang
  • Craig Eldershaw
  • Sam Homans

Abstract

Robots used for tasks in space have strict requirements. Modular reconfigurable robots have a variety of attributes that are well suited to these conditions, including: serving as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundancy (increasing robustness). In addition, self-reconfigurable systems can self-repair and adapt to changing or unanticipated conditions. This paper will describe such a self-reconfigurable modular robot: PolyBot. PolyBot has significant potential in the space manipulation and surface mobility class of applications for space.

modular self-reconfigurable robot space snake robot locomotion 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Agrawal, S.K., Kissner, L., and Yim, M. 2001. Joint solutions of many degrees-of-freedom systems using dextrous workspaces. In Proc. of the IEEE Int. Conf. on Robotics and Automation.Google Scholar
  2. Bickler, B. 1992. A new family of JPL planetary surface vehicles. In Proc. Missions, Technologies, and Design of Planetary Mobile Vehicle, Toulouse, France.Google Scholar
  3. Casal, A. 2002. Reconfiguration planning for modular selfreconfigurable robots. Ph.D. Thesis, Department of Aero/Astro. Stanford University.Google Scholar
  4. Chirikjian, G.S. and Burdick, J.W. 1992. Geometric approach to hyper-redundant manipulator obstacle avoidance. J. of Mechanical Design-Transactions of the ASME, 114(4):580–585.Google Scholar
  5. Farritor, S. and Dubowsky, S. 2001. On modular design of field robotic systems. Autonomous Robots, 10(1):57–66.Google Scholar
  6. Fromherz, M.P.J., Hoeberechts, M., and Jackson, W.B. 1999. Towards constraint-based actuation allocation for hyper-redundant manipulators. In CP'99 Workshop on Constraints in Control (CC'99), Alexandria, VA.Google Scholar
  7. Gamma, E., Helm, R., Johnson, R. and Vlissides, J. 1995. Design Patterns: Elements of Reusable Object-Oriented Software, Addison-Wesley Professional Computing Series.Google Scholar
  8. Hayati, S. et al. 1996. Microrover research for exploration of Mars. In Proc. of the AIAA Forum on Advanced Developments in Space Robotics, University of Wisconsin, Madison.Google Scholar
  9. Iagnemma, K. and Dubowsky, S. 2000. Mobile robot rough-terrain control (RTC) For planetary exploration. In Proc. ASME Design Engineering Technical Conferences, Baltimore, MD.Google Scholar
  10. Jones, J.A. 2000. Inflatable rover demonstration. In video Proc of IEEE Conf. on Robotics and Automation, (ICRA) San Francisco, CA.Google Scholar
  11. Murata, S., Kurokawa, H., and Kokaji, S. 1994. Self-assembling, machine. In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 441–448.Google Scholar
  12. NASA. 1998. Human exploration of Mars: The reference mission (Version 3.0 with June, 1998 Addendum) of the NASA Mars Exploration Study Team. Exploration Office, Advanced Development Office, Lyndon B. Johnson Space Center, Houston, TX 77058.Google Scholar
  13. Pamecha, A., Chiang, C., Stein, D., and Chirikjian, G. 19996. Design and implementation of metamorphic robots. In ASME Design Engineering Technical Conference-Computers and Engineering, Irvine, CA.Google Scholar
  14. Roufas, K., Zhang, Y., Duff, D., and Yim, M. 2000. Six degree of freedom sensing for docking using IR LED emitters and receivers. In Int. Symp. for Experimental Robotics 2000 (ISER) Honolulu Hawaii.Google Scholar
  15. Rus, D. and Vona, M. 1999. Self-reconfiguration planning with compressible unit modules. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2513–2520.Google Scholar
  16. Schenker, P.S. et al. 2000. Reconfigurable robots for all terrain exploration. In SPIE, Sensor Fusion and Decentralized control in Robotic Systems III, Vol. 4196.Google Scholar
  17. Smalley, E. 2000. NASA gets snake robot off the ground. Technology Research News [online news magazine] http://www.trnmag.com/Stories/101100/Snake_Robot_101100.htm.Google Scholar
  18. Space Studies Board, National Research Council, (SSB, NRC). (1999). A scientific rationale for mobility in planetary environments, National Academy Press.Google Scholar
  19. Sreenivasan, S. and Wilcox, B. 1994. Stability and tractino control of an actively actuated micro-rover. Journal of Robotic Systems, 11(6):487–502.Google Scholar
  20. Unsal, C., Killiccote, H., and Khosla, P. 2001. A modular selfreconfigurable bipartite robotic system: Implementation and motion planning. Autonomous Robots, 10(1):23–40.Google Scholar
  21. Will, P., Castano, A., and Shen, W.-M. 1999. Robot modularity for self-reconfiguration. In SPIE Int. Simp. on Intelligent Sys. and Advanced Manufacturing, Proc. Vol. 3839, pp. 236–245.Google Scholar
  22. Yangsheng, Xu and Ben, Brown. 1994. A space station robot walker and its shared-control software. In Proc of the AIAA/ NASA Conference on Intelligent Robots, Houston, TX, Vol. 1, pp. 123–130.Google Scholar
  23. Yim, M. 1993. A reconfigurable modular robot with many modes of locomotion. In Proc. JSME Int. Conf. on Advanced Mechatronics, pp. 283–288Google Scholar
  24. Yim, M., Duff, D., and Roufas, K. 2000. PolyBot: A modular recon-figurable robot. In Proc. of the IEEE Int. Conf. on Robotics and Automation.Google Scholar
  25. Yim, M., Duff, D., and Zhang, Y. 2001. Closed chain motion with large mechanical advantage. In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).Google Scholar
  26. Yim, M., Goldberg, D., and Casal, A. 2000. Connectivity planning for closed-chain reconfiguration. In SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196.Google Scholar
  27. Yim, M., Homans, S., and Roufas, K. 2001. Climbing with snake-like robots. In Proc. of the IFAC Workshop on Mobile Robot Technology, Jejudo, Korea.Google Scholar
  28. Yim, M., Reich, J., and Berlin, A.A. 2000. Two approaches to distributed manipulation.” In Distributed Manipulation. H. Choset, K. Borhinger (Eds.), Kluwer Academic Publishing: Norwell, MA.Google Scholar
  29. Yim, M., Zhang, Y., Lamping, J., and Mao, E. 2001. Distributed control for 3-D metamorphosis. Autonomous Robots, 10(1):41–56.Google Scholar
  30. Zhang, Y., Roufas, K.D., and Yim, M. 2001. Software architecture for modular self-reconfigurable robots. In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS).Google Scholar

Copyright information

© Kluwer Academic Publishers 2003

Authors and Affiliations

  • Mark Yim
    • 1
  • Kimon Roufas
    • 1
  • David Duff
    • 1
  • Ying Zhang
    • 1
  • Craig Eldershaw
    • 1
  • Sam Homans
    • 1
  1. 1.Palo Alto Research Center (PARC)Palo AltoUSA

Personalised recommendations