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Carnegie Mellon Robotics Institute

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Abstract

The self-mobile space manipulator (SM/sup 2/) is a seven-DOF inspection robot, capable of walking along the pre-integrated I-beam truss structure of Space Station Freedom (SSF). The robot is capable of projecting cameras anywhere interior or exterior of the SSF, and will be an ideal tool for inspecting connectors, structures, and other facilities on the SSF. Using a full-scale model of a small segment of the SSF, experiments have been performed under two gravity compensation systems.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Project(s): Self-Mobile Space Manipulator

Text Reference

Michael Nechyba and Yangsheng Xu, "Human-Robot Cooperation in Space: SM2 for New Space Station Structure," IEEE Robotics and Automation Magazine, Vol. 2, No. 4, December, 1995, pp. 4-11.

BibTeX Reference

@article{Nechyba_1995_1082,
   author = "Michael Nechyba and Yangsheng Xu",
   title = "Human-Robot Cooperation in Space: SM2 for New Space Station Structure",
   journal = "IEEE Robotics and Automation Magazine",
   pages = "4-11",
   month = "December",
   year = "1995",
   volume = "2",
   number = "4",
}

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