Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments
Dynamic hopping maneuvers using mechanical actuation are proposed as a method of locomotion for free-flyer vehicles near or on large space structures. Such maneuvers are of interest for applications related to proximity maneuvers, observation, cargo carrying, fabrication, and sensor data collection....
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-11-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.1004165/full |
| _version_ | 1797987799937318912 |
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| author | Stephen Kwok-Choon Stephen Kwok-Choon Jennifer Hudson Marcello Romano Marcello Romano |
| author_facet | Stephen Kwok-Choon Stephen Kwok-Choon Jennifer Hudson Marcello Romano Marcello Romano |
| author_sort | Stephen Kwok-Choon |
| collection | DOAJ |
| description | Dynamic hopping maneuvers using mechanical actuation are proposed as a method of locomotion for free-flyer vehicles near or on large space structures. Such maneuvers are of interest for applications related to proximity maneuvers, observation, cargo carrying, fabrication, and sensor data collection. This study describes a set of dynamic hopping maneuver experiments performed using two Astrobees. Both vehicles were made to initially grasp onto a common free-floating handrail. From this initial condition, the active Astrobee launched itself using mechanical actuation of its robotic arm manipulator. The results are presented from the ground and flight experimental sessions completed at the Spacecraft Robotics Laboratory of the Naval Postgraduate School, the Intelligent Robotics Group facility at NASA Ames Research Center, and hopping maneuvers aboard the International Space Station. Overall, this study demonstrates that locomotion through mechanical actuation could successfully launch a free-flyer vehicle in an initial desired trajectory from another object of similar size and mass. |
| first_indexed | 2024-04-11T07:53:53Z |
| format | Article |
| id | doaj.art-8b47307b689c443096d2180299268d9e |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-04-11T07:53:53Z |
| publishDate | 2022-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-8b47307b689c443096d2180299268d9e2022-12-22T04:36:00ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442022-11-01910.3389/frobt.2022.10041651004165Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experimentsStephen Kwok-Choon0Stephen Kwok-Choon1Jennifer Hudson2Marcello Romano3Marcello Romano4Spacecraft Robotics Laboratory, Department of Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey, CA, United StatesDepartment of Mechanical Engineering, California Polytechnic State University, San Luis Obispo, CA, United StatesSpacecraft Robotics Laboratory, Department of Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey, CA, United StatesSpacecraft Robotics Laboratory, Department of Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey, CA, United StatesDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, ItalyDynamic hopping maneuvers using mechanical actuation are proposed as a method of locomotion for free-flyer vehicles near or on large space structures. Such maneuvers are of interest for applications related to proximity maneuvers, observation, cargo carrying, fabrication, and sensor data collection. This study describes a set of dynamic hopping maneuver experiments performed using two Astrobees. Both vehicles were made to initially grasp onto a common free-floating handrail. From this initial condition, the active Astrobee launched itself using mechanical actuation of its robotic arm manipulator. The results are presented from the ground and flight experimental sessions completed at the Spacecraft Robotics Laboratory of the Naval Postgraduate School, the Intelligent Robotics Group facility at NASA Ames Research Center, and hopping maneuvers aboard the International Space Station. Overall, this study demonstrates that locomotion through mechanical actuation could successfully launch a free-flyer vehicle in an initial desired trajectory from another object of similar size and mass.https://www.frontiersin.org/articles/10.3389/frobt.2022.1004165/fullAstrobeeAstrobaticsspace roboticsorbital hoppingISS experiments |
| spellingShingle | Stephen Kwok-Choon Stephen Kwok-Choon Jennifer Hudson Marcello Romano Marcello Romano Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments Frontiers in Robotics and AI Astrobee Astrobatics space robotics orbital hopping ISS experiments |
| title | Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments |
| title_full | Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments |
| title_fullStr | Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments |
| title_full_unstemmed | Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments |
| title_short | Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments |
| title_sort | orbital hopping maneuvers with two astrobee free flyers ground and flight experiments |
| topic | Astrobee Astrobatics space robotics orbital hopping ISS experiments |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2022.1004165/full |
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