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All sourcesNASA NTRSDOE OSTI
NASA NTRS2020

Adaptive Hexapod Simulator Motion Based on Aircraft Stability

This paper determined the feasibility of an adaptive hexapod simulator motion algorithm based on aircraft roll stability. An experiment was conducted that used a transport aircraft model in the Vertical Motion Simulator at NASA Ames Research Center. Eighteen general aviation pilots flew a heading-capture task and a stall task consecutively under four motion configurations: baseline hexapod, adaptive hexapod, optimized hexapod, and full motion. The adaptive motion was more similar to the baseline hexapod motion in the heading-capture task when the aircraft was more stable, and more similar to the optimized hexapod motion in the stall task when the aircraft was more unstable. Pilot motion ratings and task performance in the heading-capture task under the adaptive hexapod motion were more similar to baseline hexapod motion compared to optimized hexapod motion. However, motion ratings and task performance in the stall task under the adaptive motion were not significantly more similar to the optimized hexapod motion compared to baseline hexapod motion. Motion ratings and overall task performance under optimized hexapod motion as opposed to baseline hexapod motion were always more similar to the full motion condition. This paper showed that adaptive motion based on aircraft stability is feasible and can be implemented in a straightforward way. More research is required to test the adaptive motion algorithm in different tasks.

Zaal, Peter M. T.↗
NASA NTRS2016

Hexapod Robot

The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to right or up and down. The hexapod will eventually be able to track the object moving its head and body in sync with on another and being able to rotate its body at 360 degrees. This is the plans and possible end results for the hexapod robot I will be working on during my summer internship at NASA Johnson Space Center. Since working on the hexapod project I have gained an increase interest in robotics. I enjoy the process of critical thinking. Also will working on this project I was challenged in a way that made more passionate to strive even more to become an engineer. I've learned that asking questions is an important part of the learning process. Also I learn that much more is accomplished when teamwork is applied.

Begody, Ericka↗
NASA NTRSDate not supplied

Repurposing the James Webb Space Telescope’s center of curvature optical bench hexapod for future mirror calibration testing at NASA Marshall’s x-ray & cryogenic facility

The James Webb Space Telescope’s (JWST) center of curvature optical bench (CoCOB) hexapod was repurposed to enhance NASA Marshall Space Flight Center’s X-Ray & Cryogenic Facility (XRCF) optical metrology capabilities. This upgrade unlocked higher test article load capacity and extended the allowable ranges of motion of the CoCOB hexapod. The hexapod was also coupled to a new long-stroke, linear motion axis to form a 7 degrees of freedom system and allow for high precision testing of larger diameter test articles. A 9 degrees of freedom motion system, consisting of a three-axis linear mount in an X-Y-Z configuration and a commercially available hexapod, was also designed to allow high resolution positioning of the focal plane instrumentation over a large range of motion. A modern control architecture and graphical user interface was developed for the CoCOB hexapod and additional motion stages to permit streamlined commanding and operation. This paper discusses the justification for re-using the CoCOB hexapod by highlighting its unique precision motion control capabilities in a high vacuum and optically clean environment. The design, key component selection, and environmental compatibility for each of the additional motion stages is presented along with testing results for achieved range, repeatability, and minimum step size performance for all motion axes. Finally, a summary of the motion control system architecture and its flexibility to address tomorrow’s optical metrology needs are presented.

hexapod↗
NASA NTRS1999

Point Spread Function and Transmittance Analyses for Conical and Hexapod Secondary Mirror Support Towers for the Next Generation Space Telescope (NGST)

Different secondary mirror support towers were modeled on the CODE V optical design/analysis program for the NGST Optical Telescope Assembly (OTA) B. The vertices of the NGST OTA B primary and secondary mirrors were separated by close to 9.0 m. One type of tower consisted of a hollow cone 6.0 m long, 2.00 m in diameter at the base, and 0.704 m in diameter at its top. The base of the cone was considered attached to the primary's reaction structure through a hole in the primary. Extending up parallel to the optical axis from the top of this cylinder were eight blades (pyramidal struts) 3.0 m long. A cross section of each these long blades was an isosceles triangle with a base of 0.010 m and a height of 0.100 m with the sharpest part of each triangle pointing inward. The eight struts occurred every 45 deg. The other type of tower was purely a hexapod arrangement and had no blades or cones. The hexapod consisted simply of six, very thin, circular struts, leaving in pairs at 12:00, 4:00, and 8:00 at the primary and traversing to the outer edge of the back of the secondary mount. At this mount, two struts arrived at each of 10:00, 2:00, and 6:00. The struts were attached to the primary mirror in a ring 3.5 m in diameter. They reached the back of the secondary mount, a circle 0.704 m in diameter. Transmittance analyses at two levels were performed on the secondary mirror support towers. Detailed transmittances were accomplished by the use of the CODE V optical design/analysis program and were compared to transmittance calculations that were almost back-of-the-envelope. Point spread function (PSF) calculations, including both diffraction and aberration effects, were performed on CODE V. As one goes out from the center of the blur (for a point source), the two types of support towers showed little difference between their PSF intensities until one reaches about the 3% level. Contours can be delineated on CODE V down to about 10 (exp -8) times the peak intensity, fine detailing the differences in the wings of the PSF. Between the first type of tower and the hexapod tower, below 3% of the peak intensity, the PSF contour maps well delineated significant differences in the outer portions of the PSFS. Such differences in the wings of the PSF significantly impact the resolution of brown dwarfs or extra solar planets from their star. The hexapod tower provided the best PSF.

Wilkerson, Gary W.↗
NASA NTRS2016

ROS Hexapod

As an intern project for NASA Johnson Space Center (JSC), my job was to familiarize myself and operate a Robotics Operating System (ROS). The project outcome converted existing software assets into ROS using nodes, enabling a robotic Hexapod to communicate to be functional and controlled by an existing PlayStation 3 (PS3) controller. Existing control algorithms and current libraries have no ROS capabilities within the Hexapod C++ source code when the internship started, but that has changed throughout my internship. Conversion of C++ codes to ROS enabled existing code to be compatible with ROS, and is now controlled using an existing PS3 controller. Furthermore, my job description was to design ROS messages and script programs that enabled assets to participate in the ROS ecosystem by subscribing and publishing messages. Software programming source code is written in directories using C++. Testing of software assets included compiling code within the Linux environment using a terminal. The terminal ran the code from a directory. Several problems occurred while compiling code and the code would not compile. So modifying code to where C++ can read the source code were made. Once the code was compiled and ran, the code was uploaded to Hexapod and then controlled by a PS3 controller. The project outcome has the Hexapod fully functional and compatible with ROS and operates using the PlayStation 3 controller. In addition, an open source software (IDE) Arduino board will be integrated into the ecosystem with designing circuitry on a breadboard to add additional behavior with push buttons, potentiometers and other simple elements in the electrical circuitry. Other projects with the Arduino will be a GPS module, digital clock that will run off 22 satellites to show accurate real time using a GPS signal and an internal patch antenna to communicate with satellites. In addition, this internship experience has led me to pursue myself to learn coding more efficiently and effectively to write, subscribe and publish my own source code in different programming languages. With some familiarity with software programming, it will enhance my skills in the electrical engineering field. In contrast, my experience here at JSC with the Simulation and Graphics Branch (ER7) has led me to take my coding skill to be more proficient to increase my knowledge in software programming, and also enhancing my skills in ROS. This knowledge will be taken back to my university to implement coding in a school project that will use source coding and ROS to work on the PR2 robot which is controlled by ROS software. My skills learned here will be used to integrate messages to subscribe and publish ROS messages to a PR2 robot. The PR2 robot will be controlled by an existing PS3 controller by changing C++ coding to subscribe and publish messages to ROS. Overall the skills that were obtained here will not be lost, but increased.

Davis, Kirsch↗
NASA NTRS2017

Gondola for High Altitude Planetary Science (GHAPS) Telescope Secondary Mirror Positioning Hexapod Issues and Alternatives

Active positioning of the GHAPS secondary telescope mirror is desired to correct for rigid body deflections due to temperature variations and gravity sag in the telescope structure that may impact optical performance. The current design concept for the secondary mirror mount uses a Commercial-Off -the-Shelf hexapod for mirror positioning and fine adjustment. The Hexapod specification states that motions as small as 0.1 microns along the optical axis and 2 microns perpendicular to the optical axis will cause optical aberrations that will require correction by repositioning the secondary mirror. In addition, the secondary mirror mount and positioning system must survive a 15g shock of parachute opening and landing during the instrument recovery operation. The secondary mirror positioning system must operate at a minimum specified temperature of -50 C. The telescope operates in the IR and the secondary mirror mount and positioning device is in the metering path between the primary and secondary mirrors. I2R losses in positioning system actuator devices, which may cause heating of the positioning system and secondary mirror, must be minimized due to the previously mentioned alignment sensitivity and the viewing spectrum of interest. The GHAPs project was cancelled on June 30, 2017. The purpose of this study is to address some of the issues identified with the hexapod secondary mirror positioning system and identify alternative approaches. This information may be used if the project is re-started at a later date.

Gondola Mirror Hexapo↗
NASA NTRS1989

Distributed neural control of a hexapod walking vehicle

There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Beer, R. D.↗
NASA NTRS2016

ROS Hexapod

As an intern project for NASA Johnson Space Center (JSC), my job was to familiarize myself and operate a Robotics Operating System (ROS). The project outcome will convert existing software assets into ROS using nodes, enabling a robotic Hexapod to communicate and to be functional and controlled by an existing PlayStation 3 (PS3) controller. Existing control algorithms and current libraries have no ROS capabilities within the Hexapod C++ source code. Conversion of C++ codes to ROS will enable existing code to be compatible with ROS, and will be controlled using existing PS3 controller. Furthermore, my job description is to design ROS messages and script programs which will enable assets to participate in the ROS ecosystem. In addition, an open source software (IDE) Arduino board will be integrated in the ecosystem with designing circuitry on a breadboard to add additional behavior with push buttons, potentiometers and other simple elements in the electrical circuitry. Other projects with the Arduino will be a GPS module digital clock that will run off 22 satellites to show accurate real time using a GPS signal and internal patch antenna to communicate with satellites.

Davis, Kirsch↗
NASA NTRS1992

Robustness of a distributed neural network controller for locomotion in a hexapod robot

A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

Chiel, Hillel J.↗
NASA NTRS1994

Biologically-inspired hexapod robot design and simulation

The design and construction of a biologically-inspired hexapod robot is presented. A previously developed simulation is modified to include models of the DC drive motors, the motor driver circuits and their transmissions. The application of this simulation to the design and development of the robot is discussed. The mechanisms thought to be responsible for the leg coordination of the walking stick insect were previously applied to control the straight-line locomotion of a robot. We generalized these rules for a robot walking on a plane. This biologically-inspired control strategy is used to control the robot in simulation. Numerical results show that the general body motion and performance of the simulated robot is similar to that of the robot based on our preliminary experimental results.

Espenschied, Kenneth S.↗
NASA NTRS2002

Description of New Inflatable/Rigidizable Hexapod Structure Testbed for Shape and Vibration Control

Larger and more powerful space based instruments are needed to meet increasingly sophisticated scientific demand. To support this need, concepts for telescopes with apertures of 100 meters are being investigated, but the required technologies are not in hand today. Due to the capacity limits of launch vehicles, the idea of deploying, erecting, or inflating large structures in space is being considered. Recently, rigidization concepts of large inflatable structures have demonstrated the capability of weight reductions of up to 50% from current concepts with packaging efficiencies near 80%. One of the important aspects of inflatable structures is vibration mitigation and line-of-sight control. Such control tasks are possible only after actuators/sensors are properly integrated into a rigidizable concept. To study these issues, we have developed an inflatable/rigidizable hexapod structure testbed. The testbed integrates state of the art piezo-electric self-sensing actuators into an inflatable/rigidizable structure and a flat membrane reflector. Using this testbed, we plan to experimentally demonstrate achievable vibration and line-of-sight control. This paper contains a description of the testbed and an outline of the test plan.

Adetona, O.↗
NASA NTRS2004

Static Testing of an Inflatable/Rigidizable Hexapod Structure

Scientific application of large space antennas and telescopes is fostering the study of ultralightweight and inflatable structures. These so-called gossamer structures are tightly packaged for launch and subsequent deployment. Of particular interest is a hexapod configuration often found in vehicle ride simulators, ground-based telescopes, and antennas. One such configuration was modeled and tested at NASA Langley. Discrepancies between dynamic test data and predictions from a finite element model prompted additional static testing. This paper discusses static tests that were conducted to update stiffness parameters in the finite element model.

Berger, K. T.↗
NASA NTRS2005

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

The JPL Micro-Robot Explorer (MRE) Spiderbot is a robot that takes advantage of its small size to perform precision tasks suitable for space applications. The Spiderbot is a legged robot that can traverse harsh terrain otherwise inaccessible to wheeled robots. A team of Spiderbots can network and can exhibit collaborative efforts to SUCCeSSfUlly complete a set of tasks. The Spiderbot is designed and developed to demonstrate hexapods that can walk on flat surfaces, crawl on meshes, and assemble simple structures. The robot has six legs consisting of two spring-compliant joints and a gripping actuator. A hard-coded set of gaits allows the robot to move smoothly in a zero-gravity environment along the mesh. The primary objective of this project is to create a Spiderbot that traverses a flexible, deployable mesh, for use in space repair. Verification of this task will take place aboard a zero-gravity test flight. The secondary objective of this project is to adapt feedback from the joints to allow the robot to test each arm for a successful grip of the mesh. The end result of this research lends itself to a fault-tolerant robot suitable for a wide variety of space applications.

Foor, David C.↗
NASA NTRS2018

Influence of Core and Hexapod Geometry, and Local Reinforcement on the Performance of Ultra-Lightweight ULE Mirror

The Habitable Exoplanet Observatory (HabEx) mission has unique optical performance requirements which drive the mirror design process beyond the traditional criteria. While mass and stiffness are still important, the response to inertia loading (expressed in terms of Zernike coefficients) to omni-directional excitation dominates the effort. While a Zerodur mirror is the current baseline, as mass budgets change, a ULE design is being studied as a potential alternative. This trade study looked at over 264 design variations using the Arnold Mirror Modeler and ANSYS(c) to investigate the influence of various design elements, including: substrate thickness, core cell size, hexapod geometry and local reinforcement. Design 'goodness' was evaluated based on the mirror's inertial deformation response to omni-directional input. This response was calculated via RSSing Zernike polynomial responses to (XYZ) accelerations.

Space Telescope Technology↗
NASA NTRS2001

Design of a High Resolution Hexapod Positioning Mechanism

This paper describes the development of a high resolution, six-degree of freedom positioning mechanism. This mechanism, based on the Stewart platform concept, was designed for use with the Developmental Comparative Active Optics Telescope Testbed (DCATT), a ground-based technology testbed for the Next Generation Space Telescope (NGST). The mechanism provides active control to the DCATT telescope's segmented primary mirror. Emphasis is on design decisions and technical challenges. Significant issues include undesirable motion properties of PZT-inchworm actuators, testing difficulties, dimensional stability and use of advanced composite materials. Supporting test data from prototype mechanisms is presented.

Britt, Jamie↗
NASA NTRS2001

Design of a High Resolution Hexapod Positioning Mechanism

This paper describes the development of a high resolution, six-degree of freedom positioning mechanism. This mechanism, based on the Stewart platform concept, was designed for use with the Developmental Comparative Active Optics Telescope Testbed (DCATT), a ground-based technology testbed for the Next Generation Space Telescope (NGST). The mechanism provides active control to the DCATT telescope's segmented primary mirror. Emphasis is on design decisions and technical challenges. Significant issues include undesirable motion properties of PZT-inchworm actuators, testing difficulties, dimensional stability, and use of advanced composite materials. Supporting test data from prototype mechanisms is presented.

Britt, Jamie↗
NASA NTRS2006

Large Stroke, Picometer Resolution Hexapod for Dynamic Mirror Positioning

Viewgraph presentation reviews the Fast Picometer Mirror mounting (FPMM) for the Terrestrial Planet Finder Coronagraph (TPF-C). Included in the presentation are slides with an overviews of the TPF-C, the requirements of the FPMM, the selection of the materials using the ACE system, and the architecture of the FPMM.

Ohl, Raymond G.↗
NASA NTRS2008

ATHLETE's Feet: Mu1ti-Resolution Planning for a Hexapod Robot

ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently with a single command, any motion involving steps is cumbersome - walking a few meters through difficult terrain can take hours. Our goal is to improve operator efficiency by automatically generating sequences of motion commands. There is increasing uncertainty regarding ATHLETE s actual configuration over time and decreasing quality of terrain data farther away from the current position. This, combined with the complexity that results from 36 degrees of kinematic freedom, led to an architecture that interleaves planning and execution at multiple levels, ranging from traditional configuration space motion planning algorithms for immediate moves to higher level task and path planning algorithms for overall travel. The modularity of the architecture also simplifies the development process and allows the operator to interact with and control the system at varying levels of autonomy depending on terrain and need.

Smith, Tristan B.↗