Trans-Gravitational Robot (TGR) with Linear and Angular Momentum Control

Sanchez, Felix A.

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Trans-Gravitational Robot (TGR) with Linear and Angular Momentum Control

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Due to the danger posed by the harsh environment of space, robots have been used since the beginning of space exploration as precursors to humans. As humans increase their presence in space, the risks associated with operating in such a dangerous environment increase as well. Every space and planetary mission requiring task-oriented locomotion and dexterous manipulation could benefit from having a robot capable of either assisting or replacing human presence in these unforgiving environments. Exploration, maintenance, and experimentation are a few examples of tasks that can be automated or simplified by robots with humans in-the-loop for higher level decision. This work presents the simulated implementation of the Trans-Gravitational Robot (TGR) which is a quadrupedal, lightweight, mobile and dexterous robot envisioned to operate in various gravitational environments including orbital, Lunar, and Martian. Using an ISS interior provided by NASA in Gazebo as a simulation environment, calculating the momentum generated by segmented masses in each limb and adding each limb's momentum have allowed for precise control over the full body's linear and angular momentum. After pushing off and entering a free floating phase, 3D sensing via LiDAR in simulation paired with a full body pose controller allow for the TGR's limbs to be positioned for catching itself on a target handrail. When paired with the obstacle avoidance algorithm, the TGR is capable of avoid objects within its flight trajectory or preparing for impact. This work focuses on higher level controllers focusing on momentum instead of joint angles and expanding the capabilities of quadrupedal robots in situations where momentum impacts the robot greatly such as space environments or aerial situations under gravity.

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