Experimental Evaluation of Reconfigurable Brachiating Space Robot | Zendy

Ryoichi Hayashi | Zendy; Saburo Matunaga | Zendy; Yoshiaki Ohkarni | Zendy

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Experimental Evaluation of Reconfigurable Brachiating Space Robot

Author(s) -

Ryoichi Hayashi,

Saburo Matunaga,

Yoshiaki Ohkarni

Publication year - 2001

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2001.p0548

Subject(s) - control reconfiguration , robot , task (project management) , computer science , space (punctuation) , reduction (mathematics) , control engineering , embedded system , simulation , engineering , artificial intelligence , systems engineering , mathematics , geometry , operating system

We developed a reconfigurable brachiating space robot (RBR) based on modularized design, cable reduction, and distributed control able to move over KIBO (Japanese experimental module) of the International Space Station in a brachiating manner and to reconfigure its arms based on task requirements. This paper presents RBR capabilities, focusing on grasping handrails and reconfiguration. We conduct experiments to evaluate RBR brachiation and reconfiguration and present results.

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