Momentum dumping for space robots [PDF]
2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017 During the robotic capture of a target object on orbit, accidental contacts may happen. During contacts, momentum is transferred to the system, causing a drift of the space robot in the inertial space. When no remediation is taken, the arm might converge to singularity or workspace limit within seconds, compromising the capture operation.
Giordano, Alessandro Massimo +2 more
openaire +2 more sources
Algorithms for Mobile Robot Localization and Mapping, Incorporating Detailed Noise Modeling and Multi-scale Feature Extraction [PDF]
, 2006 Mobile robot localization and mapping in unknown environments is a fundamental requirement for effective autonomous navigation. Three different approaches to localization and mapping are presented.
Pfister, Samuel Thomas
core +1 more source
Robot introspection through learned hidden Markov models [PDF]
, 2006 In this paper we describe a machine learning approach for acquiring a model of a robot behaviour from raw sensor data. We are interested in automating the acquisition of behavioural models to provide a robot with an introspective capability.
Maria Fox +11 more
core +2 more sources
A Survey of Space Robotic Technologies for On-Orbit Assembly
Space: Science & Technology, 2022 The construction of large structures is one of the main development trends of the space exploration in the future, such as large space stations, large space solar power stations, and large space telescopes.
Delun Li +5 more
doaj +1 more source
Master assisted cooperative control of human and robot [PDF]
, 1996 A cooperative control approach between human and robot takes an important role to carry out various tasks in hazardous environments or space. In this case, a robot is operated based on the cooperation between direct human control and autonomous robot ...
Inoue, Hiroyuki +3 more
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Generating Feasible Trajectories for Autonomous On-Orbit Grasping of Spinning Debris in a Useful Time [PDF]
, 2013 The grasping and stabilization of a spinning, noncooperative target satellite by means of a free-flying robot is addressed. A method for computing feasible robot trajectories for grasping a target with known geometry in a useful time is presented ...
Hirzinger, Gerd +3 more
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Contact Analysis of Mobility Devices Based on Tension
Modelling, 2021 Advances in space technology have opened up opportunities for human beings to work in outer space. It is expected that the upsizing of manned space facilities, such as the International Space Station, will further this trend.
Satoshi Takayama +2 more
doaj +1 more source
Task Planning of Space-Robot Clusters Based on Modified Differential Evolution Algorithm
Applied Sciences, 2020 This study studies the problem of on-orbit maintenance task planning for space-robot clusters. Aiming at the problem of low maintenance efficiency of space-robot cluster task-planning, this study proposes a cluster-task-planning method based on energy ...
Pengfei Xiao +3 more
doaj +1 more source
Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty [PDF]
, 2006 This paper addresses an impedance control for free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient ...
Abiko, Satoko +5 more
core +1 more source
Terrain Adaptability Mechanism of Large Ruminants’ Feet on the Kinematics View
Applied Bionics and Biomechanics, 2015 Ruminants live in various parts of land. Similar cloven hooves assist ruminants in adapting to different ground environment during locomotion. This paper analyzes the general terrain adaptability of the feet of ruminants using kinematics of the ...
Qun Zhang, Xilun Ding, Kun Xu
doaj +1 more source