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Proceedings Paper

Experiment in vision-based autonomous grasping within a reduced gravity environment
Author(s): K. A. Grimm; Jon D. Erickson; Greg D. Anderson; Chiun-Hong Chien; Lisa Hewgill; Mark L. Littlefield; Robert S. Norsworthy
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Paper 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.

Paper Details

Date Published: 1 November 1992
PDF: 11 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131718
Show Author Affiliations
K. A. Grimm, NASA Johnson Space Ctr. (United States)
Jon D. Erickson, NASA Johnson Space Ctr. (United States)
Greg D. Anderson, Lockheed Engineering and Sciences Co. (United States)
Chiun-Hong Chien, Lockheed Engineering and Sciences Co. (United States)
Lisa Hewgill, Lockheed Engineering and Sciences Co. (United States)
Mark L. Littlefield, Lockheed Engineering and Sciences Co. (United States)
Robert S. Norsworthy, Lockheed Engineering and Sciences Co. (United States)


Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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