Overview and Performance of the Front-End Robotics Enabling Near-Term Demonstration (FREND) Robotic Arm

Debus, T.; Dougherty, Sean

doi:10.2514/6.2009-1870

Cited by 90 publications

(26 citation statements)

References 2 publications

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“…Twelve projects were conducted, six of which proceeded to on-orbit demonstration. Currently, there are three projects: the FREND (Akin and Bowden, 2003;Obermark et al, 2007;Debus and Dougherty, 2009), a robot refuel task (Kandaswamy et al, 2014), and the Phoenix program. The FREND and Phoenix programs are aimed mainly at enabling GEO satellites to operate autonomous on-orbit service, while the robot refuel task applies to international space stations and has practical functions.…”

Section: Usamentioning

confidence: 99%

Current trends in the development of intelligent unmanned autonomous systems

Zhang

et al. 2017

Frontiers Inf Technol Electronic Eng

124

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Intelligent unmanned autonomous systems are some of the most important applications of artificial intelligence (AI). The development of such systems can significantly promote innovation in AI technologies. This paper introduces the trends in the development of intelligent unmanned autonomous systems by summarizing the main achievements in each technological platform. Furthermore, we classify the relevant technologies into seven areas, including AI technologies, unmanned vehicles, unmanned aerial vehicles, service robots, space robots, marine robots, and unmanned workshops/intelligent plants. Current trends and developments in each area are introduced.

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Section: Usamentioning

confidence: 99%

Current trends in the development of intelligent unmanned autonomous systems

Zhang

et al. 2017

Frontiers Inf Technol Electronic Eng

124

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“…Recently, SUMO was renamed FREND (Front-end Robotics Enabling Near-term Demonstration). The name change was to clarify that DARPA (Defence Advanced Research Projects Agency of the Department of Defense) were not pursuing a full-up space demonstration, but making sure that they have a flightqualified arm and payload which could eventually be mated with a SUMO vehicle (Debus and Dougherty, 2009;Wilson, 2007).…”

Section: Introductionmentioning

confidence: 99%

A universal on-orbit servicing system used in the geostationary orbit

Liang

et al. 2011

Advances in Space Research

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“…As funded by NASA (National Aeronautics and Space Administration), the University of Maryland developed a dexterous multi-arm robotic servicing system ---Ranger. Moreover, DARPA (The Defense Advanced Research Projects Agency) is carrying out the Front-End Robotics Enabling Near-term Demonstration (FREND) [6] project to investigate the feasibility of using three robotic arms to grapple an existing cooperative or noncooperative satellite. Recently, the DARPA Phoenix project [7] will develop three-arm space robots to cooperatively harvest and re-use valuable components from retired GEO satellites and create new spacecraft.…”

Section: Introductionmentioning

confidence: 99%

Coordinated whole-body motion planning for a humanoid robot used on orbit and planetary surface

Zheng

Hu³

2015

2015 IEEE International Conference on Information and Automation

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To avoid large cost and danger of Extravehicular activity (EVA) and planetary surface exploration, a humanoid robot with high flexibility and mobility is under development. This robot is composed of two 7-DOF (degree of freedom) arms, a 1-DOF waist and two 3-DOF legs. This paper established the kinematics model and addressed whole-body coordinated motion planning methods for the robot, for different application cases: on orbit and planetary surface. For the former, there is no enough gravity (micro-or zero-gravity environment), the dexterity and workspace range are the main factors considered for the whole-body coordination. Combining the position-level and the velocity-level kinematics equations, the common manipulability of the two arms is analyzed, and the best reference workspace is determined. Inspired by the human motion, an appropriate pose (position and attitude) of the target for the two arms are then resolved according to the desired deflection angle of the waist with respect to the initial configuration. When the robot is used on the planetary surface, the gravity is required to be considered for keeping the robot stable during the mission. The coordinated whole motion is planned to adjust the robot's COM (center of mass position) position and make the ZMP (Zero Moment Point) satisfy the balance condition. Finally, the co-simulation model is established in ADAMS/Simulation environment. Simulation results of typical cases verify the proposed methods.

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Overview and Performance of the Front-End Robotics Enabling Near-Term Demonstration (FREND) Robotic Arm

Cited by 90 publications

References 2 publications

Current trends in the development of intelligent unmanned autonomous systems

Current trends in the development of intelligent unmanned autonomous systems

A universal on-orbit servicing system used in the geostationary orbit

Coordinated whole-body motion planning for a humanoid robot used on orbit and planetary surface

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