A Modular Robotic Concept for HumanRobot Interaction and ... .


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A Modular Robotic Concept for Human/Robot Interaction and Planetary Exploration. Issa A.D. Nesnas, Ph.D. Daniel Helmick Ayanna Howard Mobility Concept Development Section Jet Propulsion Laboratory Proposal for a modular space systems March 23, 2004. Overall Axel Concept.
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Slide 1

A Modular Robotic Concept for Human/Robot Interaction and Planetary Exploration Issa A.D. Nesnas, Ph.D. Daniel Helmick Ayanna Howard Mobility Concept Development Section Jet Propulsion Laboratory Proposal for a secluded space frameworks March 23, 2004

Slide 2

Overall Axel Concept Key Concept - isolate payload/science modules from transporters Axel2 Axel4 Axel6 I.A.N.

Slide 3

Axel 2 – Planetary Explorer Actuated Castor Link Brushes Module interface Wheels (different sorts – foldable) Stereo Cameras and/or Sensors Solar cells Motion Direction (fwd) I.A.N.

Slide 4

Compact Packaging Inflatable Wheels Foldable Wheels I.A.N.

Slide 5

Axel 4 – Science/Payload Module Yaw Symmetric science module (works topsy turvy/right-side up) Yaw OR Electrical Connections Roll Pitch Passive Joint (compelled roll & yaw) One DOF arm End effector scoops OR Science Instrument Science/Payload Module secured w/sun oriented cells Example Payload Module I.A.N.

Slide 6

In-field Reconfiguration Auto-foldable Leg I.A.N.

Slide 7

Reconfigurable Axel Robots Simple - utilize 3 engines for Axel2 Modular – isolate versatility from payload Redundant – supplant fizzled modules Scalable – utilize vast foldable wheels Cleanable - utilize brushes to wipe sun based cells Compact - bundle in a little volume Robust - handle sudden drops Flexible - shift payload mixes Transporter - convey burdens to help people I.A.N.

Slide 8

Proposal for FY04/FY05 I.A.N.

Slide 9

Key Challenges Demonstrate Axel as a compelling portability idea in different landscapes Demonstrate solid in-field docking - (6 DOF) Demonstrate disappointment recuperation Demonstrate achievability given power limitations Control of Axel4 and higher can be mind boggling I.A.N.

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