Trey Smith's Publications

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Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station.

In-Won Park, Trey Smith, Sze Wun Wong, Pedro Piacenza, and Matei Ciocarlie. In Proc. IEEE Int. Conf. Robotics Automation (ICRA), 2015.

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Abstract

The Intelligent Robotics Group at NASA Ames Research Center is building a free-flying robot, Astrobee, which will be operated inside the International Space Station (ISS) to perform a variety of intravehicular activities. Astrobee is expected to support autonomous operations, remote operation by ground controllers, and human-robot interaction with crew members. As a part of the Astrobee robotic system, a compliant, detachable perching arm is being developed to support long duration tasks. This arm will grasp ISS handrails to hold its position without using propulsion or navigation to minimize power consumption. It will also support Astrobee robots grasping each other to enable future research related to satellite servicing.

BibTeX Entry

@InProceedings{park15:astrobee_arm,
  author =       {In-Won Park and Trey Smith and Sze Wun Wong and Pedro Piacenza and Matei Ciocarlie},
  title =        {Developing a 3-{DOF} Compliant Perching Arm for a Free-Flying Robot on the {International Space Station}},
  booktitle = {Proc. IEEE Int. Conf. Robotics Automation (ICRA)},
  year =      2015,
}

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