1 November 1992 Experiment in vision-based autonomous grasping within a reduced gravity environment
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Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992) https://doi.org/10.1117/12.131718
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
Abstract
The National Aeronautics and Space Administration's Reduced Gravity Program (RGP) offers opportunities for experimentation in gravities of less than one-g. The Extravehicular Activity Helper/Retriever (EVAHR) robot project of the Automation and Robotics Division (A&RD) at the Lyndon B. Johnson Space Center in Houston, Texas, is undertaking a task that will culminate in a series of tests in simulated zero-g using this facility. A subset of the final robot hardware consisting of a three-dimensional laser mapper, a Robotics Research 807 arm, a Jameson JH-5 hand, and the appropriate interconnect hardware/software will be used. This equipment will be flown on the RGP's KC-135 aircraft. This aircraft will fly a series of parabolas creating the effect of zero-g. During the periods of zero-g, a number of objects will be released in front of the fixed base robot hardware in both static and dynamic configurations. The system will then inspect the object, determine the object's pose, plan a grasp strategy, and execute the grasp. This must all be accomplished in approximately 27 seconds of zero-g.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
K. A. Grimm, K. A. Grimm, Jon D. Erickson, Jon D. Erickson, Greg D. Anderson, Greg D. Anderson, Chiun-Hong Chien, Chiun-Hong Chien, Lisa Hewgill, Lisa Hewgill, Mark L. Littlefield, Mark L. Littlefield, Robert S. Norsworthy, Robert S. Norsworthy, } "Experiment in vision-based autonomous grasping within a reduced gravity environment", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131718; https://doi.org/10.1117/12.131718
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