Modules and Software for Free-Flying Robots, Phase I

Metadata Updated: May 2, 2019

Energid Technologies will develop actuator and gripper modules with control and simulation software for building mechanisms to attach to free-flying robots. The technology leverages Energid's existing hardware and software to reduce weight and improve performance. The approach enables novel modes of maneuvering, controlling, and sensing. The module infrastructure includes simulated sensors that enable precise control of mechanisms built with the modules to serve to support a variety of other applications. Multiple articulated mechanisms may be attached to one free-flying robot and cooperatively operated, for example. To control the arms and base, Energid's Actin software toolkit will be extended and applied to enable use of articulated mechanisms in perching and acrobatic modes, with one end-effector fixed in perching mode and momentum conservation integral to the control during acrobatic mode. Included will be powerful simulation software that, by leveraging Energid's commercial Actin software, will be cross platform, fast, and feature rich. The simulation, modeling many aspects of the free-flying robot, will support design validation efforts as well as mission planning and testing. It will seamlessly transition between simulating terrestrial test beds and fielded free-flying robots in a microgravity environment. The simulation will include articulated dynamics, contact dynamics, sensors, and the aerodynamics of any mechanism built with the modules.

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Public: This dataset is intended for public access and use. License: U.S. Government Work

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Metadata Created Date August 1, 2018
Metadata Updated Date May 2, 2019

Metadata Source

Harvested from NASA Data.json

Additional Metadata

Resource Type Dataset
Metadata Created Date August 1, 2018
Metadata Updated Date May 2, 2019
Publisher Space Technology Mission Directorate
Unique Identifier TECHPORT_93650
Maintainer Email
Public Access Level public
Bureau Code 026:00
Metadata Context
Metadata Catalog ID
Schema Version
Catalog Describedby
Datagov Dedupe Retained 20190501230127
Harvest Object Id 22393487-fc5a-434a-a056-a20dc8b63542
Harvest Source Id 39e4ad2a-47ca-4507-8258-852babd0fd99
Harvest Source Title NASA Data.json
Data First Published 2017-12-01
Homepage URL
Data Last Modified 2018-07-19
Program Code 026:027
Source Datajson Identifier True
Source Hash 2f03eafd76f7c2a437c175f74a8703c58f44a308
Source Schema Version 1.1

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