Development of a multiagent robotic system with application to space exploration

2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556) ◽

10.1109/aim.2001.936902 ◽

2002 ◽

Cited By ~ 6

Author(s):

E.J.P. Earon ◽

T.D. Barfoot ◽

G.M.T. D'Eleuterio

Keyword(s):

Space Exploration ◽

Robotic System

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A Modular Robotic System with Applications to Space Exploration

2nd IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT'06) ◽

10.1109/smc-it.2006.9 ◽

2006 ◽

Cited By ~ 3

Author(s):

Gregory S. Hornby Matthew D. Hancher

Keyword(s):

Space Exploration ◽

Robotic System

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Dynamic Modeling and Simulation of a Robotic Lander Based on Variable Radius Drums

Applied Sciences ◽

10.3390/app10248862 ◽

2020 ◽

Vol 10 (24) ◽

pp. 8862

Author(s):

Matteo Caruso ◽

Lorenzo Scalera ◽

Paolo Gallina ◽

Stefano Seriani

Keyword(s):

Modeling And Simulation ◽

Dynamic Model ◽

Dynamic Modeling ◽

Space Exploration ◽

Robotic System ◽

Elastic Response ◽

Soft Landing ◽

Specific Behavior ◽

Variable Radius ◽

Main Challenge

Soft-landing on planetary surfaces is the main challenge in most space exploration missions. In this work, the dynamic modeling and simulation of a three-legged robotic lander based on variable radius drums are presented. In particular, the proposed robotic system consists of a non-reversible mechanism that allows a landing object to constant decelerate in the phase of impact with ground. The mechanism is based on variable radius drums, which are used to shape the elastic response of a spring to produce a specific behavior. A dynamic model of the proposed robotic lander is first presented. Then, its behavior is evaluated through numerical multibody simulations. Results show the feasibility of the proposed design and applicability of the mechanism in landing operations.

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