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Completed TRL 3 (started at 2, targeting 3)
This research introduces a novel robotic design that combines the tasks of mobility and manipulation for space environments. In many challenging robotics applications, a robot will need to both move to target locations as well as provide forceful interaction with its surroundings. For example, in the context of space station servicing, a mobile manipulation robot might need to navigate a cluttered environment, anchor itself in place, and apply a torque to tighten a screw.
Our proposed concept consists of a small body, extendable booms for “arms”, and mission-specific end-effector “hands” for grasping. This design combines the best qualities of two existing paradigms for such a task, namely larger articulated-arm robots and small free-flyers. By leveraging an extendable reach, our robot benefits from both the high force exertion capabilities of the former and the lightweight maneuverability of the latter. The key concept of a “mobile manipulation” robot is using the same mechanism to enact both mobility and manipulation tasks; our design accomplishes both by sequentially extending its booms, anchoring to remote surfaces, and applying tension to achieve a particular motion or force.
The three critical milestones of this research are as follows: (1) Extend the classic dexterous manipulation problem of manipulating an object to an inverted problem of maintaining control and stability by manipulating the surroundings, (2) design a trajectory of anchor points and control policies to optimally impart mission-dictated forces and movements, and (3) validate the algorithms on experimental microgravity testbed at the Stanford Space Robotics Facility.
This research will result in a novel robotic design enabling mobility and manipulation, which are critical for robotics applications in space.
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