Engineering topics

Walker, I. D.

Publications and source records attributed to Walker, I. D..

4 records

NASA NTRS2003

Switching skeletons: hydrostatic support in molting crabs

Skeletal support systems are essential for support, movement, muscular antagonism, and locomotion. Crustaceans shed their rigid exoskeleton at each molt yet are still capable of forceful movement. We hypothesize that the soft water-inflated body of newly molted crabs may rely on a hydrostatic skeleton, similar to that of worms and polyps. We measured internal hydrostatic pressure and the force exerted during claw adduction and observed a strong correlation between force and hydrostatic pressure, consistent with hydrostatic skeletal support. This alternation between the two basic skeletal types may be widespread among arthropods.

Non-NASA Center↗

NASA NTRS2001

Analysis and experiments with an elephant's trunk robot

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

Non-NASA Center↗

NASA NTRS1999

Experiments in Aligning Threaded Parts Using a Robot Hand

Techniques for determining and correcting threaded part alignment using force and angular position data are developed to augment currently limited techniques for align- ing threaded parts. These new techniques are based on backspinning a nut with respect to a bolt and measuring the force change that occurs when the bolt "falls" into the nut. Kinematic models that describe the relationship between threaded parts during backspinning are introduced and are used to show how angular alignment may be determined. The models indicate how to distinguish between the aligned and misaligned cases of a bolt and a nut connection by using axial force data only. In addition, by tracking the in-plane relative attitude of the bolt during spinning, data can be obtained on the direction of the angular misalignment which, in turn, is used to correct the misalignment. Results from experiments using a bolt held in a specialized fixture and a three fingers Stanford/JPL hand are presented.

Diftler, M. A.↗

NASA NTRS1992

Parallel fault-tolerant robot control

A shared memory multiprocessor architecture is used to develop a parallel fault-tolerant robot controller. Several versions of the robot controller are developed and compared. A robot simulation is also developed for control observation. Comparison of a serial version of the controller and a parallel version without fault tolerance showed the speedup possible with the coarse-grained parallelism currently employed. The performance degradation due to the addition of processor fault tolerance was demonstrated by comparison of these controllers with their fault-tolerant versions. Comparison of the more fault-tolerant controller with the lower-level fault-tolerant controller showed how varying the amount of redundant data affects performance. The results demonstrate the trade-off between speed performance and processor fault tolerance.

Hamilton, D. L.↗