NASA's Jet Propulsion Laboratory, Pasadena, CA
The Legged Excursion Mechanical Utility Robot (LEMUR) has been developed as a six-legged robot for giving example of autonomous walking with activity along a truss structure performing maintenance, assembly, and inspection.
Wireless Modem for remote operations
- mechanical operations
- Commands are sent by modem to send LEMUR along truss structure to its designated area.
- When LEMUR is 1 meter from the assembly, artificial-vision allows recognition and autonomous movement.
- Simple mechanical operations can be performed at assembly with front leg/s.
- Images transmitted to host computer.
Operations of the Legs
One front leg could be turning a wrench socket
The other could be made as a hand.
Or could hold a macroscopic camera.
The kinematic format of the LEMUR allows support on four or better yet, three legs (to free up another appendage)
The rear feet are able to grasp objects.
- Each of the six legs is individually controlled.
- The four rear legs has three degrees of freedom (DOF).
- The front two has four DOFs. They can hold/or become - working with tools.
- Pentium - equivalent or better
- Minimum 200 MHz
- Dynamic random-access memory of at least 32 MB
- Digital control circuits
- digital input/output circuits
- Analog-to-digital converters for input
- Digital-to-analog converters for output.
- Optical encoders in leg actuators for closed-loop microcomputer control of the placements and speed of them.
- Signals for controlling actuator multiplexed through a sample-and-hold circuit after made by D/A Cnv.
- Pulse-width-modulator circuits receive the multiplexed outputs for the motors.
- LEMUR uses a rechargeable battery for continued one hour power needs.
- An electrical umbilical cord can be used for sustained operations.
- This cord can also be used as an additional bypass for the wireless modem.
This author is currently writing a theme song for it, to the tune of "One Eyed, One Horned, Flying Purple People Eater."