A method on trajectory plan for humanoid space robot

Que Dong; Jian Yang; Bo Wei; Hui Li; Zhihong Jiang; Danfeng Li; Hongjie Li; Qiang Huang

doi:10.1109/ROBIO.2011.6181299

A method on trajectory plan for humanoid space robot

Que Dong, Jian Yang, Bo Wei, Hui Li, Zhihong Jiang^*, Danfeng Li, Hongjie Li, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The humanoid space robot is explored to substitute the astronauts for working in the dangerous space environment, and it can implement the tasks outside/inside the space satation. In order to simulate the weightless environment in space, we design a kind of passive mechanism, and with this, the robot can simulate the movement in space. On the base of this passive mechanism, in order to make the space robot work well in the simulated space environment, this paper presents a kind of online trajectory plan method for space climbing robot. Lastly, we validated the method we proposed by experiment on our experiment system, the robot can achieve climbing mission steadily and correctly on the designed passive mechanism by the presented trajectory planning method.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages	281-286
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2011.6181299
Publication status	Published - 2011
Event	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand Duration: 7 Dec 2011 → 11 Dec 2011

Publication series

Name	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country/Territory	Thailand
City	Phuket
Period	7/12/11 → 11/12/11

Access to Document

10.1109/ROBIO.2011.6181299

Cite this

Dong, Q., Yang, J., Wei, B., Li, H., Jiang, Z., Li, D., Li, H., & Huang, Q. (2011). A method on trajectory plan for humanoid space robot. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 281-286). Article 6181299 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). https://doi.org/10.1109/ROBIO.2011.6181299

@inproceedings{c0fdb397cccb40c3a71d99e0c848cc8a,

title = "A method on trajectory plan for humanoid space robot",

abstract = "The humanoid space robot is explored to substitute the astronauts for working in the dangerous space environment, and it can implement the tasks outside/inside the space satation. In order to simulate the weightless environment in space, we design a kind of passive mechanism, and with this, the robot can simulate the movement in space. On the base of this passive mechanism, in order to make the space robot work well in the simulated space environment, this paper presents a kind of online trajectory plan method for space climbing robot. Lastly, we validated the method we proposed by experiment on our experiment system, the robot can achieve climbing mission steadily and correctly on the designed passive mechanism by the presented trajectory planning method.",

author = "Que Dong and Jian Yang and Bo Wei and Hui Li and Zhihong Jiang and Danfeng Li and Hongjie Li and Qiang Huang",

year = "2011",

doi = "10.1109/ROBIO.2011.6181299",

language = "English",

isbn = "9781457721373",

series = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

pages = "281--286",

booktitle = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

note = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 ; Conference date: 07-12-2011 Through 11-12-2011",

}

Dong, Q, Yang, J, Wei, B, Li, H, Jiang, Z, Li, D, Li, H & Huang, Q 2011, A method on trajectory plan for humanoid space robot. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181299, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp. 281-286, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 7/12/11. https://doi.org/10.1109/ROBIO.2011.6181299

A method on trajectory plan for humanoid space robot. / Dong, Que; Yang, Jian; Wei, Bo et al.
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 281-286 6181299 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A method on trajectory plan for humanoid space robot

AU - Dong, Que

AU - Yang, Jian

AU - Wei, Bo

AU - Li, Hui

AU - Jiang, Zhihong

AU - Li, Danfeng

AU - Li, Hongjie

AU - Huang, Qiang

PY - 2011

Y1 - 2011

N2 - The humanoid space robot is explored to substitute the astronauts for working in the dangerous space environment, and it can implement the tasks outside/inside the space satation. In order to simulate the weightless environment in space, we design a kind of passive mechanism, and with this, the robot can simulate the movement in space. On the base of this passive mechanism, in order to make the space robot work well in the simulated space environment, this paper presents a kind of online trajectory plan method for space climbing robot. Lastly, we validated the method we proposed by experiment on our experiment system, the robot can achieve climbing mission steadily and correctly on the designed passive mechanism by the presented trajectory planning method.

AB - The humanoid space robot is explored to substitute the astronauts for working in the dangerous space environment, and it can implement the tasks outside/inside the space satation. In order to simulate the weightless environment in space, we design a kind of passive mechanism, and with this, the robot can simulate the movement in space. On the base of this passive mechanism, in order to make the space robot work well in the simulated space environment, this paper presents a kind of online trajectory plan method for space climbing robot. Lastly, we validated the method we proposed by experiment on our experiment system, the robot can achieve climbing mission steadily and correctly on the designed passive mechanism by the presented trajectory planning method.

UR - http://www.scopus.com/inward/record.url?scp=84860759762&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2011.6181299

DO - 10.1109/ROBIO.2011.6181299

M3 - Conference contribution

AN - SCOPUS:84860759762

SN - 9781457721373

T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

SP - 281

EP - 286

BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Y2 - 7 December 2011 through 11 December 2011

ER -

A method on trajectory plan for humanoid space robot

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this