Modular Reconfigurable Robots in Space Applications

Authors:
Mark Yim;Kimon Roufas;David Duff;Ying Zhang;Craig Eldershaw;Sam Homans
Affiliations:
Palo Alto Research Center (PARC), 3333 Coyote Hill Road, Palo Alto CA, 94304, USA. yim@parc.com;Palo Alto Research Center (PARC), 3333 Coyote Hill Road, Palo Alto CA, 94304, USA;Palo Alto Research Center (PARC), 3333 Coyote Hill Road, Palo Alto CA, 94304, USA;Palo Alto Research Center (PARC), 3333 Coyote Hill Road, Palo Alto CA, 94304, USA;Palo Alto Research Center (PARC), 3333 Coyote Hill Road, Palo Alto CA, 94304, USA;Palo Alto Research Center (PARC), 3333 Coyote Hill Road, Palo Alto CA, 94304, USA
Venue:
Autonomous Robots
Year:
2003

Citing 6
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Abstract

Robots used for tasks in space have strict requirements. Modular reconfigurable robots have a variety of attributes that are well suited to these conditions, including: serving as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundancy (increasing robustness). In addition, self-reconfigurable systems can self-repair and adapt to changing or unanticipated conditions. This paper will describe such a self-reconfigurable modular robot: PolyBot. PolyBot has significant potential in the space manipulation and surface mobility class of applications for space.