Related papers: Adaptive Robot Detumbling of a Non-Rigid Satellite
Small-satellites and CubeSats offer a low-cost pathway to access Low Earth Orbit at altitudes of 450 km and lower thanks to miniaturization and advancement in reliability of commercial electronics. However, at these low altitudes,…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
This paper presents the integration of a Variable Stiffness Link (VSL) for long-reach aerial manipulation, enabling adaptable mechanical coupling between an aerial multirotor platform and a dual-arm manipulator. Conventional long-reach…
Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robots often elevate their center-of-mass into unstable…
We have carried out a numerical investigation of the coupled gravitational and non-gravitational perturbations acting on Earth satellite orbits in an extensive grid, covering the whole circumterrestrial space, using an appropriately…
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
Attitude control hardware for small satellites is often limited in power and space availability given the importance of the science instruments they exist to transport. To mitigate this, a dual-spin stabilized satellite actuated via…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
The paper discusses an adaptive strategy to effectively control nonlinear manipulation motions of a dual arm robot (DAR) under system uncertainties including parameter variations, actuator nonlinearities and external disturbances. It is…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
Spin state predictions for defunct satellites in geosynchronous earth orbit (GEO) are valuable for active debris removal and servicing missions as well as material shedding studies and attitude-dependent solar radiation pressure (SRP)…
Satellite networks are promising to provide ubiquitous and high-capacity global wireless connectivity. Traditionally, satellite networks are modeled by placing satellites on a grid of multiple circular orbit geometries. Such a network…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…
Various actuators are used in spacecraft to achieve attitude stabilization, including thrusters, momentum wheels, and control moment gyros. Small satellites, however, have stringent size, weight, and cost constraints, which makes many…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
We study the resonant dynamics in a simple one degree of freedom, time dependent Hamiltonian model describing spin-orbit interactions. The equations of motion admit periodic solutions associated with resonant motions, the most important…