In collaboration with the RAD lab, we are developing a series of modular arm components that are space-rated and can be rapidly assembled into a large array of manipulators. A key feature of the project is series-elastic actuation, which will enable high fidelity torque control and multi-contact manipulation in micro-gravity. Our approach builds on previous work with the control of NASA Valkyrie actuators [1].
[1] Thomas GC, Mehling JS, Holley J, Sentis L. Phase-relaxed-passive full state feedback gain limits for series elastic actuators. IEEE/ASME Transactions on Mechatronics. 2020 Nov 6;26(1):586-91.Human-Empowering Robotics and Control (HERC) Lab
Empowering Humans with Robots
