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Appl. Sci. 2018, 8(8), 1342; https://doi.org/10.3390/app8081342

Prototype Design and Performance Tests of Beijing Astronaut Robot

1,2,3
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1,2,3,* , 1,2,3
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and
4
1
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
2
Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing 100081, China
3
Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
4
LARM: Laboratory of Robotics and Mechatronics, DICeM, University of Cassino and South Latium, Via Di Biasio 43, 03043 Cassino FR, Italy
*
Author to whom correspondence should be addressed.
Received: 2 July 2018 / Revised: 6 August 2018 / Accepted: 6 August 2018 / Published: 10 August 2018
(This article belongs to the Special Issue Advanced Mobile Robotics)
Full-Text   |   PDF [5043 KB, uploaded 21 August 2018]   |  

Abstract

This paper proposes a novel chameleon-like astronaut robot that is designed to assist, or even substitute, a human astronauts in a space station to complete dangerous and prolonged work, such as maintenance of solar panels, and so on. The robot can move outside the space station freely via the hundreds of aluminum handrails, which are provided to help astronauts move. The robot weighs 30 kilograms, and consists of a torso, three identical 4-degree of freedom (DOF) arms, three end effectors, and three monocular vision system on each end effector. Via multi-arm associated motion, the robot can realize three kinds of motion modes: walking, rolling, and sliding. Numerous experiments have been conducted in a simulation environment and a ground verification platform. Experimental results reveal that this robot has excellent motion performance. View Full-Text
Keywords: space robot; hybrid bionic robot; chameleon; end effector space robot; hybrid bionic robot; chameleon; end effector
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Sun, Z.; Li, H.; Jiang, Z.; Song, Z.; Mo, Y.; Ceccarelli, M. Prototype Design and Performance Tests of Beijing Astronaut Robot. Appl. Sci. 2018, 8, 1342.

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