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BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space StructuresWe describe a robotic platform for traversing and manipulating a modular 3D lattice structure. The robot is designed to operate within a specifically structured environment, which enables low numbers of degrees of freedom (DOF) compared to robots performing comparable tasks in an unstructured environment. This allows for simple controls, as well as low mass and cost. This approach, designing the robot relative to the local environment in which it operates, results in a type of robot we call a "relative robot." We describe a bipedal robot that can locomote across a periodic lattice structure, as well as being able to handle, manipulate, and transport building block parts that compose the lattice structure. Based on a general inchworm design, the robot has added functionality for traveling over and operating on a host structure.
Document ID
20170006219
Document Type
Conference Paper
Authors
Jenett, Benjamin (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Cheung, Kenneth (NASA Ames Research Center Moffett Field, CA United States)
Date Acquired
July 10, 2017
Publication Date
January 9, 2017
Subject Category
Spacecraft Design, Testing and Performance
Structural Mechanics
Cybernetics, Artificial Intelligence and Robotics
Report/Patent Number
ARC-E-DAA-TN38470
Meeting Information
AIAA SciTech 2017(Grapevine, TX)
Funding Number(s)
CONTRACT_GRANT: NNX14AM40H
Distribution Limits
Public
Copyright
Public Use Permitted.
Keywords
Aeronautics
Robotics
Manufacturing

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