On-Orbit Emulator on Earth- Multi-Body Dynamics Emulator for Multi-Agent Autonomy in Three-Dimensions
Abstract
This DURIP work will create a multi-use simulator for multiple physical objects that interact with each other in a free-floating three-dimensional environment. These objects may be self-controlled, purposefully floating, or tumbling, and may do so in a variety of three-dimensional spaces, including on-orbit, underwater, and aerial. This system will consist of four robot arms, whose bases are attached to rails, and an optional mobile robot with an arm on it. The use of robots endows a unique feature of this emulator- its associated environment, as well as the objects moving within it, can be programmed. For example, an object, affixed to the end-effector of a robot, can now float away with user-specified inertia, drag, etc if pushed because the object s support robot can produce this type of motion. We do not term this system as a simulator because such a term implies software-only; our system captures the impact of many of the difficult-to-model variables, such as contact, and therefore we use the term emulator in its place. This system is dubbed MEDUSA for Multiple End-effector Dynamics Emulator for Underwater Space and Advanced Manufacturing.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Mar 07, 2024
- Source ID
- FA95502310558
Entities
People
- Howie Choset
Organizations
- Air Force Office of Scientific Research
- Carnegie Mellon University
- United States Air Force