Operator Interface and Control Software for the Reconfigurable Surface System Tri-ATHLETE

Rus, Daniela ; Vona, Marsette A. ; Norris, Jeffrey S.

PID  :  NTRS Document ID: 20120014161
RP-ID  :  NPO-47777

学科分类：人工智能

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

Graphical operator interface methods have been developed for modular, reconfigurable articulated surface systems in general, and a specific instantiation thereof for JPL's Tri-ATHLETE. The All- Terrain Hex-Limbed Extra-Terrestrial Explorer Robot (ATHLETE) has six limbs with six kinematic degrees of freedom each. The core advancement of this work was the development of a novel set of algorithms for dynamically maintaining a reduced coordinate model of any connected assembly of robot modules.