Experimental Evaluation of Reconfigurable Brachiating Space Robot

Ryoichi Hayashi; Saburo Matunaga; Yoshiaki Ohkarni

doi:10.20965/jrm.2001.p0548

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JRM Vol.13 No.5 pp. 548-553

doi: 10.20965/jrm.2001.p0548

(2001)

Paper:

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Experimental Evaluation of Reconfigurable Brachiating Space Robot

Ryoichi Hayashi^, Saburo Matunaga^ and Yoshiaki Ohkarni^**

^*Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1, 0-okayama, Meguro-ku, Tokyo 152-8552, Japan

^**Tsukuba Space Center R&D Division, National Space Development Agency of Japan, 2-1-1 Sengen, Tsukuba-shi, Ibaraki-ken 305-8505, Japan

Received:

April 25, 2001

Accepted:

August 6, 2001

Published:

October 20, 2001

Abstract

We developed a reconfigurable brachiating space robot (RBR) based on modularized design, cable reduction, and distributed control able to move over KIBO (Japanese experimental module) of the International Space Station in a brachiating manner and to reconfigure its arms based on task requirements. This paper presents RBR capabilities, focusing on grasping handrails and reconfiguration. We conduct experiments to evaluate RBR brachiation and reconfiguration and present results.

Cite this article as:

R. Hayashi, S. Matunaga, and Y. Ohkarni, “Experimental Evaluation of Reconfigurable Brachiating Space Robot,” J. Robot. Mechatron., Vol.13 No.5, pp. 548-553, 2001.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Experimental Evaluation of Reconfigurable Brachiating Space Robot

Ryoichi Hayashi*, Saburo Matunaga* and Yoshiaki Ohkarni**

Ryoichi Hayashi^, Saburo Matunaga^ and Yoshiaki Ohkarni^**