Humanoids for Lunar and Planetary Surface Operations

Stoica, Adrian; Keymeulen, Didier; Csaszar, Ambrus; Gan, Quan; Hidalgo, T.; Moore, Jason W.; Newton, Jackson; Sandoval, Steven; Xu, Jiajing

doi:10.1109/icsmc.2005.1571549

Cited by 8 publications

(6 citation statements)

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“…Although wheeled and tracked vehicles are usually more energy-efficient and easier to control, legged systems have access to a wider range of terrains as they are capable of applying forces in a non-continuous way in numerous directions and magnitudes within their designed workspace [28], as opposed to continuous tracks, which is useful for exploration scenarios in rough environments. In particular, if a robot's outer appearance is humanoid, it will have the ability to linger within workspaces designed for humans [4] and use the same tools. Stoica et al discusses in [30] the design criteria for robots which could perform the assembly of long-term habitats.…”

Section: Motivation and Overviewmentioning

confidence: 99%

Distributed Computation in a Quadrupedal Robotic System

Kuehn

Bernhard

Burchardt

et al. 2014

International Journal of Advanced Robotic Systems

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Today's and future space missions (will) have to deal with increasing requirements regarding autonomy and flexibility in the locomotor system. To cope with these requirements, a higher bandwidth for sensor information is needed. In this paper, a robotic system is presented that is equipped with artificial feet and a spine incorporating increased sensing capabilities for walking robots. In the proposed quadrupedal robotic system, the front and rear parts are connected via an actuated spinal structure with six degrees of freedom. In order to increase the robustness of the system's locomotion in terms of traction and stability, a foot-like structure equipped with various sensors has been developed. In terms of distributed local control, both structures are as self-contained as possible with regard to sensing, sensor preprocessing, control and communication. This allows the robot to respond rapidly to occurring events with only minor latency.

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Section: Motivation and Overviewmentioning

confidence: 99%

Distributed Computation in a Quadrupedal Robotic System

Kuehn

Bernhard

Burchardt

et al. 2014

International Journal of Advanced Robotic Systems

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“…This consideration has recently lead to many different studies in human-robot interaction with the aim of finding natural ways by which humans can communicate with robots (e.g., [1]- [4]). …”

Section: Introductionmentioning

confidence: 99%

Teaching by touching: An intuitive method for development of humanoid robot motions

Libera

Minato

Fasel

et al. 2007

2007 7th IEEE-RAS International Conference on Humanoid Robots

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This paper investigates touching as a natural way for humans to communicate with robots. In particular we developed a system to edit motions of a small humanoid robot by touching its body parts. This interface has two purposes: it allows the user to develop robot motions in a very intuitive way, and it allows us to collect data useful for studying the characteristics of touching as a means of communication. Experimental results confirm the interface's ease of use for inexpert users, and analysis of the data collected during human-robot teaching episodes has yielded several useful insights.

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“…A robot with a humanoid appearance has the ability to linger within a workspace designed for humans (Bluethmann et al., ) and use the same tools. In this regard, Stoica discusses the design criteria of robots that should assemble long‐term habitats (Stoica et al., ).…”

Section: Introductionmentioning

confidence: 99%

System Design and Testing of the Hominid Robot Charlie

et al. 2016

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Current and future application scenarios for mobile robots deal with increased requirements regarding autonomy and flexibility in the locomotor system. To cope with these demands, a high sensor quantity and quality allows us to perform robust locomotion. The authors present a hominid robotic system that is equipped with multi‐point‐contact feet and an active artificial spine to incorporate extended sensing and locomotion capabilities for walking robots. In the proposed robotic system, the front and rear part are connected via an actuated spinal structure with six degrees of freedom. To increase the robustness of the system's locomotion in terms of traction and stability, a footlike structure equipped with various sensors has been developed. Altogether, the robot embodies more than 330 sensors. In terms of distributed local control, the structures feature their own local intelligence and are as autonomous as possible regarding sensing, sensor preprocessing, control, and communication. This allows the robot to respond to external disturbances with minor latency. Within this paper, the proposed robotic system and its distributed and hierarchical control method are presented. To validate the electromechanical and software approach, the authors present results verified experimentally in different environments (in‐ and outdoor) with differing walking speeds on various substrates and in varying inclinations from −20∘ to 20°. The results show that the presented approach is viable and improves the flexibility of the locomotor system. A hominid design was chosen in order to perform various types of locomotion. To demonstrate the entire functionality of the developed hardware, two different motion modes (quadrupedal and bipedal locomotion) are investigated. This also includes a stable transition from a four‐legged posture to an upright posture and vice versa.

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Humanoids for Lunar and Planetary Surface Operations

Cited by 8 publications

References 1 publication

Distributed Computation in a Quadrupedal Robotic System

Distributed Computation in a Quadrupedal Robotic System

Teaching by touching: An intuitive method for development of humanoid robot motions

System Design and Testing of the Hominid Robot Charlie

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