single-rb.php

JRM Vol.25 No.2 pp. 306-315
doi: 10.20965/jrm.2013.p0306
(2013)

Paper:

Tether Based Locomotion for Astronaut Support Robot Introduction of Robot Experiment on JEM

Mitsuhiro Yamazumi and Mitsushige Oda

Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan

Received:
October 23, 2012
Accepted:
January 17, 2013
Published:
April 20, 2013
Keywords:
space robot, parallel mechanism, cable/tether based mobile robot
Abstract

An astronaut support robot called Astrobot will conduct tasks to reduce workloads of astronauts and risks of hazardous incidents that include astronauts. To realize Astrobot, new technologies must be developed such as robot locomotion capability to move robot’s location so that it arrives at required workplace and returns to its storage position. We are proposing a new type of robot locomotion method that uses tethers. JAXA is conducting experiments called Robot Experiment on Japanese Experiment Module or REX-J, to evaluate the usefulness of these new technologies. This paper discusses REX-J’s tether based locomotion control. This proposed tether locomotion control is defined as an under-actuated cable driven parallel manipulator. This system is difficult to control because tethers easily become slack in microgravity environment in orbit, which instantly changes their state. To cope with this problem, model-based control method using statics analysis is proposed as slackless control in microgravity environment. The proposed sequential tether length and tension control were tested using a breadboard model. REX-J onboard equipment was transported to the ISS/JEMin July 2012 and many experiments are now being conducted.

Cite this article as:
Mitsuhiro Yamazumi and Mitsushige Oda, “Tether Based Locomotion for Astronaut Support Robot Introduction of Robot Experiment on JEM,” J. Robot. Mechatron., Vol.25, No.2, pp. 306-315, 2013.
Data files:
References
  1. [1] R. McGregor and L. Oshinowo, “Flight 6A: Deployment and Checkout of the Space Station Remote Manipulator System (SSRMS),” i-SAIRAS, 2001.
  2. [2] M. Oda, “Tethered robot which moves along a large space structure,” Proc. of the Space Science and Technology Symposium, Paper ID: 1D03, 2007.
  3. [3] “STS-123 Press Kit,” NASA, 2008.
  4. [4] R. O. Ambrose et al., “Robonaut: NASA’s Space Humanoid,” Intelligent Systems, Vol.15, No.4, pp. 57-63, 2000.
  5. [5] M. Oda, H. Sawada, M. Yoshi, K. Konoue, H. Kato, S. Suzuki, Y. Hagiwara, and T. Ueno, “Proposal of a Tethered Space Walking Robot – REX-J: Robot Experiment on JEM –,” Trans. of the Japan Society for Aeronautical and Space Sciences, Space Technology Japan, Vol.7, 2009.
  6. [6] S. E. Fredrickson, L. W. Abbott, S. Duran, J. D. Jochim, J. W. Studak, J. D. Wagenknecht, and N. M. Williams, “Mini AERCam: development of a free-flying nanosatellite inspection robot,” Proc. SPIE, Vol.5088, Vol.97, 2003.
  7. [7] F. Didot et al., “Eurobot Underwater Model : System Overview, Tests Results & Outlook,” Proc. of 9th Int. Symposium on Artificial Intelligence. Robotics and Automation in Space, Los Angeles, California, Feb. 26-29, 2008.
  8. [8] R. Hayashi, S. Matunaga, and Y. Ohkami, “Capability Evaluation of Reconfigurable Brachiating Space Robot,” IECON 2000: 26th Annual Conf. of the IEEE Industrial Electronics Society, Vol.4, pp. 2461-2466, Nagoya, Japan, 2000.
  9. [9] P. L. Swaim, J. T. Thompson, and P. D. Campbell, “The Charlotte, Intra-Vehicular Robot,” Proc. Int. Symp. AI, Robot. Autom. Space, Jpn., pp. 157-162, 1996.
  10. [10] T. Ueno and M. Oda, “Development of an Index Finger for the Dexterous Hand for Space,” Trans. of th Japan Society of Mechanical Engineers, Vol.28, pp. 349-359, 2010.
  11. [11] M. Oda, “Experiences and lessons learned from the ETS-VII robot satellite,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA ’00), Vol.1, pp. 914-919, CA, USA, 2000.
  12. [12] A. Ueta and M. Oda, “A Ground-Based Operation System for EVA Support Robot Experiments,” i-SAIRAS, 093, 2010.
  13. [13] J. S. Albus, R. V. Bostelman, and N. G. Dagalakis, “The NIST ROBOCRANE, A Robot Crane,” J. of Robotic Systems, July 1992.
  14. [14] S. Kawamura, W. Choe, S. Tanaka, and S. R. Pandian, “Development of an ultrahigh speed robot FALCON using wire drive system,” Robotics and Automation, Vol.1, pp. 215-220, 1995.
  15. [15] L. L. Cone, “Skycam, an aerial robotic camera system,” Byte, Vol.10, pp. 122-132, 1985.
  16. [16] E. F. Fukushima, N. Kitamura, and S. Hirose, “A new flexible component for field robotic system,” Robotics and Automation, Proc. of the ICRA, Vol.3, pp. 2583-2588, 2000.
  17. [17] R. G. Roberts, T. Graham, and J. M. Trumpower, “On the inverse kinematics, statics, and fault tolerance of cable-suspended robots,” J. of Robotic Systems, Vol.15, Issue 10, pp. 581-597, 1998.
  18. [18] E. Ottaviano, M. Ceccarelli, and P. Pelagalli, “A performance analysis of a 4 cable-driven parallel manipulator,” IEEE Int. Conf. on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM), June 7-9, Bankok, Thailand, 2006.
  19. [19] M. Yamazumi, M. Oda, N. Miura, and T. Ueno, “Spatial Locomotion of Tether Based Robot,” i-SAIRAS, 114, 2010.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 05, 2021