Self-Assembly in Space via Self-Reconfigurable Robots

Wei-Min Shen, Peter Will, and Behrokh Khoshnevis. Self-Assembly in Space via Self-Reconfigurable Robots. In Proc. 2003 IEEE Intl. Conf. on Robotics and Automation, pp. 2516–2521, Taiwan, September 2003.

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Abstract

Self-assembly systems in space are arguably within the reach of today's technology based on the research and development of self-reconfigurable robots on earth. This paper presents an approach to self-assembly in space by developing: (1) a novel design for intelligent and reconfigurable components; (2) the free-flying “intelligent fiber/rope” “match-maker” robots with self-reconfigurable and self-adjustable tethering for autonomous docking; and (3) a totally distributed control method for planning, executing, and monitoring the assembly process. These approaches are partially evaluated by a set of experimental and simulation results to simulate the dynamics and control of free-flying objects in zero-gravity environment.

BibTeX Entry

@InProceedings{	  shen2003self-assembly-in-space-via-self-reconfigurable-robots,
  abstract	= {Self-assembly systems in space are arguably within the
		  reach of today's technology based on the research and
		  development of self-reconfigurable robots on earth. This
		  paper presents an approach to self-assembly in space by
		  developing: (1) a novel design for intelligent and
		  reconfigurable components; (2) the free-flying
		  ``intelligent fiber/rope'' ``match-maker'' robots with
		  self-reconfigurable and self-adjustable tethering for
		  autonomous docking; and (3) a totally distributed control
		  method for planning, executing, and monitoring the assembly
		  process. These approaches are partially evaluated by a set
		  of experimental and simulation results to simulate the
		  dynamics and control of free-flying objects in zero-gravity
		  environment.},
  address	= {Taiwan},
  author	= {Wei-Min Shen and Peter Will and Behrokh Khoshnevis},
  booktitle	= icra-03,
  month		= sep,
  pages		= {2516--2521},
  title		= {Self-Assembly in Space via Self-Reconfigurable Robots},
  year		= {2003}
}