Self-assembly in space via self-reconfigurable robots

被引：24
|
作者：
Shen, WM [1 ]
Will, P [1 ]
Khoshnevis, B [1 ]
机构：
[1] Univ So Calif, Marina Del Rey, CA 90292 USA
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词：
D O I：
10.1109/ROBOT.2003.1241971
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Self-assembly systems in space are arguably within the reach of today's technology based on the research and development of self-reconfigurable robots on earth. This paper presents an approach to self-assembly in space by developing (1) a novel design for intelligent and reconfigurable components; (2) the free-flying "intelligent fiber/rope" "match-maker" robots with self-reconfigurable and self-adjustable tethering for autonomous docking; and (3) a totally distributed control method for planning, executing, and monitoring the assembly process. These approaches are partially evaluated by a set of experimental and simulation results to simulate the dynamics and control of free-flying objects in zero-gravity environment.
引用
收藏
页码：2516 / 2521
页数：6
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