Related papers: Development of On-Ground Hardware In Loop Simulati…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
Wheeled rovers have been the primary choice for lunar exploration due to their speed and efficiency. However, deeper areas, such as lunar caves and craters, require the mobility of legged robots. To do so, appropriate end effectors must be…
Impedance-controlled robots are widely used on Earth to perform interaction-rich tasks and will be a key enabler for In-Space Servicing, Assembly and Manufacturing (ISAM) activities. This paper introduces the software architecture used on…
Hardware and software architecture of a novel spacecraft Attitude Determination and Control System (ADCS) based on smartphones using Variable Speed Control Moment Gyroscope (VSCMG) as actuator is proposed here. A spacecraft ground simulator…
With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring…
Orbital debris is a nonlinear control problem in a stratified orbital environment, not a static inventory. This paper develops a reduced-order shell-and-size framework that connects collision-rate scaling, fragment-production gain, natural…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks…
This paper focuses on the development of a ground-based test-bed to analyze the complexities of contact dynamics between multibody systems in space. The test-bed consists of an air-bearing platform equipped with a 7 degrees-of-freedom (one…
The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties. A key to sustaining the future of space-flight is the…
With the increasingly congested and contested space environment, safe and effective satellite operation has become increasingly challenging. As a result, there is growing interest in autonomous satellite capabilities, with common machine…
Research in soft manipulators has significantly enhanced object grasping capabilities, thanks to their adaptability to various shapes and sizes. Applying this technology to on-orbit servicing, especially during the capture and containment…
Maneuverable tether-net systems launched from an unmanned spacecraft offer a promising solution for the active removal of large space debris. Guaranteeing the successful capture of such space debris is dependent on the ability to reliably…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
This paper presents the CAT Vehicle (Cognitive and Autonomous Test Vehicle) Testbed: a research testbed comprised of a distributed simulation-based autonomous vehicle, with straightforward transition to hardware in the loop testing and…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Orbital debris is a pressing problem which presents a danger to global space operations and a barrier to continued development of the space economy and space infrastructure. As research continues regarding orbital debris, there is a need…
The integration of distributed renewable energy sources and the multi-domain behaviours inside the cyber-physical energy system (smart grids) draws up major challenges. Their validation and roll out requires careful assessment, in term of…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…