The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Future space facilities that could power our planet and expand our horizons will differ vastly from the satellites and space stations familiar today. Characterized by their immense size and the difficulties of human construction in orbit, future space facilities will be assembled in part by robots. This paper profiles Skyworker, a prototype assembly, inspection, and maintenance (AIM) robot designed for large mass payload transport and assembly tasks. Skyworker is an attached mobile manipulator (AMM) capable of walking and working on the structure it is building.

Notes

Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center

Associated Project(s): Skyworker

Text Reference

Peter Staritz, Sarjoun Skaff, Christopher Urmson, and William (Red) L. Whittaker, "Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities," Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), May, 2001, pp. 4180 - 4185.

BibTeX Reference

@inproceedings{Staritz_2001_3831,
   author = "Peter Staritz and Sarjoun Skaff and Christopher Urmson and William (Red) L. Whittaker",
   title = "Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities",
   booktitle = "Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01)",
   pages = "4180 - 4185",
   month = "May",
   year = "2001",
   volume = "4",
}

The Robotics Institute

Menu