A graphical operations interface for modular surface systems
Name
Vona-2010-A graphical operations interface for modular surface systems.pdf
Size
6.11 MB
Format
Adobe PDF
Checksum (MD5)
622157e09513641b329a54b113361d1b
Author(s)
Vona, Marsette A.
Date Issued
April 2010
Journal
IEEE Aerospace Conference
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Vona, Marsette A. “A Graphical Operations Interface for Modular Surface Systems.” IEEE, 2010. 1–12. © Copyright 2010 IEEE
Version
Final published version
Abstract
This paper presents the design and implementation of algorithms for a new graphical operations interface system specifically adapted to operating modular reconfigurable articulated surface systems. Geometric models of heterogeneous robot modules may be connected and disconnected in this interface via drag-and-drop interaction. The resulting assemblies may further be kinematically operated through onscreen direct manipulation. The system maintains a reduced coordinate kinematic model for stability, accuracy, and performance. Key algorithms are presented to evolve this model as the user changes the assembled module topology. Though the presented algorithms are generic, application examples are given primarily for a simulation of NASA/JPL's reconfigurable TriATHLETE system for Lunar exploration. A second application example with a modular robot from the research literature is also included as a demonstration.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/AERO.2010.5446797
