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 - https://www.scopus.com/pages/publications/84860759762
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
PB - IEEE Computer Society
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -