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
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.
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