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ICRA
2003
IEEE

Self-assembly in space via self-reconfigurable robots

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Self-assembly in space via self-reconfigurable robots
― Self-assembly systems in space are arguably within the reach of today’s technology based on the research and development of self-reconfigurable robots on earth. This paper presents an approach to self-assembly in space by developing (1) a novel design for intelligent and reconfigurable components; (2) the free-flying “intelligent fiber/rope” “match-maker” robots with self-reconfigurable and self-adjustable tethering for autonomous docking; and (3) a totally distributed control method for planning, executing, and monitoring the assembly process. These approaches are partially evaluated by a set of experimental and simulation results to simulate the dynamics and control of free-flying objects in zero-gravity environment.
Wei-Min Shen, Peter M. Will, Berok Khoshnevis
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Wei-Min Shen, Peter M. Will, Berok Khoshnevis
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