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Centaur: A Mobile Dexterous Humanoid for Surface OperationsFuture human and robotic planetary expeditions could benefit greatly from expanded Extra-Vehicular Activity (EVA) capabilities supporting a broad range of multiple, concurrent surface operations. Risky, expensive and complex, conventional EVAs are restricted in both duration and scope by consumables and available manpower, creating a resource management problem. A mobile, highly dexterous Extra-Vehicular Robotic (EVR) system called Centaur is proposed to cost-effectively augment human astronauts on surface excursions. The Centaur design combines a highly capable wheeled mobility platform with an anthropomorphic upper body mounted on a three degree-of-freedom waist. Able to use many ordinary handheld tools, the robot could conserve EVA hours by relieving humans of many routine inspection and maintenance chores and assisting them in more complex tasks, such as repairing other robots. As an astronaut surrogate, Centaur could take risks unacceptable to humans, respond more quickly to EVA emergencies and work much longer shifts. Though originally conceived as a system for planetary surface exploration, the Centaur concept could easily be adapted for terrestrial military applications such as de-Gig, surveillance and other hazardous duties.
Document ID
Document Type
Conference Paper
Rehnmark, Fredrik
(Lockheed Martin Space Operations Houston, TX, United States)
Ambrose, Robert O.
(NASA Johnson Space Center Houston, TX, United States)
Goza, S. Michael
(NASA Johnson Space Center Houston, TX, United States)
Junkin, Lucien
(NASA Johnson Space Center Houston, TX, United States)
Neuhaus, Peter D.
(Institute for Human and Machine Cognition Pensacola, FL, United States)
Pratt, Jerry E.
(Institute for Human and Machine Cognition Pensacola, FL, United States)
Date Acquired
August 23, 2013
Publication Date
January 1, 2005
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
Meeting Information
SPIE Defense and Security Symposium(Orlando, FL)
Funding Number(s)
Distribution Limits
Public Use Permitted.

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