Path generation and control of humanoid robots during extravehicular activities
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http://hdl.handle.net/10045/127889
Título: | Path generation and control of humanoid robots during extravehicular activities |
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Autor/es: | Ramón, José L. | Calvo González, Ramón | Trujillo López, Adrián | Pomares, Jorge | Felicetti, Leonard |
Grupo/s de investigación o GITE: | Human Robotics (HURO) |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Space robot | Humanoid robot | Robot control | Path planning | Optimization |
Fecha de publicación: | 22-sep-2022 |
Editor: | International Astronautical Federation (IAF) |
Cita bibliográfica: | Ramón J.L., et al. "Path generation and control of humanoid robots during extravehicular activities". In: 73rd International Astronautical Congress (IAC-22), 18-22 September 2022, Paris, France, IAC-22,D1,6,x70297 |
Resumen: | This paper proposes and investigates strategies that can be used to plan the motion and control of humanoid robots in some elementary tasks that characterize extravehicular activities. The humanoid robot taken into account is a torso with two arms and two grippers at their extremities. This study addresses the problem of robot motion on the complex system of handrails and handles that characterize the International Space Station. Such a complex task has been divided into two elementary sub-tasks: motion planning and tracking the planned trajectories. First, an optimization procedure is presented to plan and coordinate the robot's arms motions and graspers to achieve the desired location using handrails. Then, a low-level controller is used to guarantee that the robots' actuators can follow these previously generated trajectories. Simulation results assess the applicability of the proposed strategy in different typical operations that potentially can be performed in an extravehicular activity scenario. |
URI: | http://hdl.handle.net/10045/127889 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/conferenceObject |
Derechos: | © 2022 The Authors. This is an Open Access article distributed under the terms of the Creative Commons Attribution Licence (CC BY 4.0), which permits copying, adaptation and redistribution, provided the original work is properly cited (http://creativecommons.org/licenses/by/4.0/). |
Revisión científica: | si |
Aparece en las colecciones: | INV - HURO - Comunicaciones a Congresos, Conferencias, etc. |
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