Athlete: A cargo handling and manipulation robot for the moon

Wilcox, Brian; Litwin, Todd; Biesiadecki, Jeffrey J.; Matthews, J. W.; Heverly, Matt; Morrison, Jack; Townsend, Julie; Ahmad, Norman; Sirota, Allen; Cooper, Brian

doi:10.1002/rob.20193

Cited by 248 publications

(123 citation statements)

References 9 publications

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“…The NASA Athlete [7] can reuse its legs to perform manipulation tasks. RobotCub's iCub can walk using just the legs [8] and crawl using both arms and legs [9].…”

Section: Related Workmentioning

confidence: 99%

Postural modes and control for dexterous mobile manipulation: the UMass uBot concept

Ruiken

Lanighan

Grupen

2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

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Abstract-We present the UMass uBot concept for dexterous mobile manipulation. The uBot concept is built around Bernstein's definition of dexterity-"the ability to solve a motor problem correctly, quickly, rationally, and resourcefully" [1]. We contend that dexterity in robotic platforms cannot arise from control alone and can only be achieved when the entire design of the robot affords resourceful behavior. uBot-6 is the latest robot in the uBot series whose design affords several postural configurations and mobility modes. We discuss these dexterous mobility options in detail and demonstrate the strength of dexterous mobility.

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“…The NASA Athlete [7] can reuse its legs to perform manipulation tasks. RobotCub's iCub can walk using just the legs [8] and crawl using both arms and legs [9].…”

Section: Related Workmentioning

confidence: 99%

Postural modes and control for dexterous mobile manipulation: the UMass uBot concept

Ruiken

Lanighan

Grupen

2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

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“…For this work we were constrained to using existing on-board controls. For general information on the on-board controls, see the Motion Control section of (Wilcox et al, 2007), and for a detailed discussion of on-board controls for active terrain compliance during driving see (Townsend et al, 2010). Figure 18 for the final architecture at DRATS 2010.…”

Section: Footfall Architectural Overview As Of June 2008mentioning

confidence: 99%

“…Additionally, ATHLETE can fold into a flat ring, allowing for easier transport to the lunar surface. (Wilcox et al, 2007), (Heverly and Matthews, 2008), (Wilcox, 2009), (Wilcox, 2011) For sensing its environment, SDM-B has a number of stereo camera pairs. Each face of the hexagon has a pair (NavCams) that provides the long distance view required for tele-operated driving.…”

Section: Introductionmentioning

confidence: 99%

Development and field testing of the FootFall planning system for the ATHLETE robots

SunSpiral

Wheeler

Chavez-Clemente

et al. 2012

Journal of Field Robotics

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The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain HexLimbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

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“…The K-10 [9] built at the NASA Ames Research Center (ARC), ATHLETE [10] built at JPL and Chariot [11] built at the NASA Johnson Space Center (JSC) rovers are three prototypes being used in a series of field trials to demonstrate lunar operations capabilities. These vehicles, modeled in LSOS, are shown on Figure 1.…”

Section: Vehicle Modelsmentioning

confidence: 99%

A Lunar Surface Operations Simulator

Nayar

Balaram

Cameron

et al. 2008

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. The Lunar Surface Operations Simulator (LSOS) is being developed to support planning and design of space missions to return astronauts to the moon. Vehicles, habitats, dynamic and physical processes and related environment systems are modeled and simulated in LSOS to assist in the visualization and design optimization of systems for lunar surface operations. A parametric analysis tool and a data browser were also implemented to provide an intuitive interface to run multiple simulations and review their results. The simulator and parametric analysis capability are described in this paper.

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Athlete: A cargo handling and manipulation robot for the moon

Cited by 248 publications

References 9 publications

Postural modes and control for dexterous mobile manipulation: the UMass uBot concept

Postural modes and control for dexterous mobile manipulation: the UMass uBot concept

Development and field testing of the FootFall planning system for the ATHLETE robots

A Lunar Surface Operations Simulator

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