Inclined Surface Locomotion Strategies for Spherical Tensegrity Robots

This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates robust climbing on inclined surfaces in hardware experiments and speeds significantly faster than previous spherical tensegrity models. This robot is an improvement over other iterations in the TT-series and the first tensegrity to achieve reliable locomotion on inclined surfaces of up to 24\degree. We analyze locomotion in simulation and hardware under single and multi-cable actuation, and introduce two novel multi-cable actuation policies, suited for steep incline climbing and speed, respectively. We propose compelling justifications for the increased dynamic ability of the robot and motivate development of optimization algorithms able to take advantage of the robot's increased control authority.Comment: 6 pages, 11 figures, IROS 201

Advanced manned space flight simulation and training: An investigation of simulation host computer system concepts

The findings of a preliminary investigation by Southwest Research Institute (SwRI) in simulation host computer concepts is presented. It is designed to aid NASA in evaluating simulation technologies for use in spaceflight training. The focus of the investigation is on the next generation of space simulation systems that will be utilized in training personnel for Space Station Freedom operations. SwRI concludes that NASA should pursue a distributed simulation host computer system architecture for the Space Station Training Facility (SSTF) rather than a centralized mainframe based arrangement. A distributed system offers many advantages and is seen by SwRI as the only architecture that will allow NASA to achieve established functional goals and operational objectives over the life of the Space Station Freedom program. Several distributed, parallel computing systems are available today that offer real-time capabilities for time critical, man-in-the-loop simulation. These systems are flexible in terms of connectivity and configurability, and are easily scaled to meet increasing demands for more computing power

A Modular Bio-inspired Robotic Hand with High Sensitivity

While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to handle various daily manipulation and grasping tasks. Dexterity usually requires more actuators but also leads to a more sophisticated mechanism design and is more expensive to fabricate and maintain. Soft materials are able to provide compliance and safety when interacting with the physical world but are hard to model. This work presents a hybrid bio-inspired robotic hand that combines soft matters and rigid elements. Sensing is integrated into the rigid bodies resulting in a simple way for pose estimation with high sensitivity. The proposed hand is in a modular structure allowing for rapid fabrication and programming. The fabrication process is carefully designed so that a full hand can be made with low-cost materials and assembled in an efficient manner. We demonstrate the dexterity of the hand by successfully performing human grasp types.Comment: 7 pages, 13 figures, IEEE RoboSoft 202

Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection

This paper presents a new solution for inspecting and repairing defects in live gas pipelines. The proposed approach is the development of a modular and semi-autonomous vehicle system. The robotic system has a drive mechanism, capable of navigating and adjusting its orientation in various configurations of pipelines. Other features of the system are cable-free communications, semi-autonomous motion control as well as integration of sensory devices. The robotic system is designed to traverse in 150-300 mm diameter pipes through straight and curved sections, junctions and reducers. The vehicle control and navigation technique is implemented using a two-mode controller consisting of a proportional-integral-derivative (PID) and fuzzy logic control. Unlike other available systems, the vehicle employs proprioceptive sensors to monitor its own states. The fuzzy logic controller is used to evaluate the sensor outputs such as speed, climbing angle and rate of change of climbing angle. This control technique allows the vehicle to drive and adapt in a partially observable gas pipe system. Laboratory experiment results are presented. The paper also describes a cable-free communication method for the system. A brief account of typical pipe environments and currently available inspection tools is presented as background information

Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection

This is an article from the journal, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering [© IMechE ]. It is also available at: http://journals.pepublishing.com/content/119778This paper presents a new solution for inspecting and repairing defects in live gas pipelines. The proposed approach is the development of a modular and semi-autonomous vehicle system. The robotic system has a drive mechanism, capable of navigating and adjusting its orientation in various configurations of pipelines. Other features of the system are cable-free communications, semi-autonomous motion control as well as integration of sensory devices. The robotic system is designed to traverse in 150-300 mm diameter pipes through straight and curved sections, junctions and reducers. The vehicle control and navigation technique is implemented using a two-mode controller consisting of a proportional-integral-derivative (PID) and fuzzy logic control. Unlike other available systems, the vehicle employs proprioceptive sensors to monitor its own states. The fuzzy logic controller is used to evaluate the sensor outputs such as speed, climbing angle and rate of change of climbing angle. This control technique allows the vehicle to drive and adapt in a partially observable gas pipe system. Laboratory experiment results are presented. The paper also describes a cable-free communication method for the system. A brief account of typical pipe environments and currently available inspection tools is presented as background information