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Proceedings Paper

Centaur: a mobile dexterous humanoid for surface operations
Author(s): Fredrik Rehnmark; Robert O. Ambrose; S. Michael Goza; Lucien Junkin; Peter D. Neuhaus; Jerry E. Pratt
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Paper Abstract

Future human and robotic planetary expeditions could benefit greatly from expanded Extra-Vehicular Activity (EVA) capabilities supporting a broad range of multiple, concurrent surface operations. Risky, expensive and complex, conventional EVAs are restricted in both duration and scope by consumables and available manpower, creating a resource management problem. A mobile, highly dexterous Extra-Vehicular Robotic (EVR) system called Centaur is proposed to cost-effectively augment human astronauts on surface excursions. The Centaur design combines a highly capable wheeled mobility platform with an anthropomorphic upper body mounted on a three degree-of-freedom waist. Able to use many ordinary handheld tools, the robot could conserve EVA hours by relieving humans of many routine inspection and maintenance chores and assisting them in more complex tasks, such as repairing other robots. As an astronaut surrogate, Centaur could take risks unacceptable to humans, respond more quickly to EVA emergencies and work much longer shifts. Though originally conceived as a system for planetary surface exploration, the Centaur concept could easily be adapted for terrestrial military applications such as de-mining, surveillance and other hazardous duties.

Paper Details

Date Published: 27 May 2005
PDF: 9 pages
Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); doi: 10.1117/12.601525
Show Author Affiliations
Fredrik Rehnmark, Lockheed Martin Space Operations (United States)
Robert O. Ambrose, NASA Johnson Space Ctr. (United States)
S. Michael Goza, NASA Johnson Space Ctr. (United States)
Lucien Junkin, NASA Johnson Space Ctr. (United States)
Peter D. Neuhaus, Institute for Human and Machine Cognition (United States)
Jerry E. Pratt, Institute for Human and Machine Cognition (United States)

Published in SPIE Proceedings Vol. 5804:
Unmanned Ground Vehicle Technology VII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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