Self-Assembly in Space via Self-Reconfigurable Robots
Wei-Min Shen, Peter Will, and Behrokh Khoshnevis. Self-Assembly in Space via Self-Reconfigurable Robots. In Proc. 2003 IEEE Intl. Conf. on Robotics and Automation, pp. 2516–2521, Taiwan, September 2003.
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Abstract
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.
BibTeX Entry
@InProceedings{ shen2003self-assembly-in-space-via-self-reconfigurable-robots, abstract = {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.}, address = {Taiwan}, author = {Wei-Min Shen and Peter Will and Behrokh Khoshnevis}, booktitle = icra-03, month = sep, pages = {2516--2521}, title = {Self-Assembly in Space via Self-Reconfigurable Robots}, year = {2003} }
