Related papers: Adaptive Robot Detumbling of a Non-Rigid Satellite
This paper presents a nonsingular fast terminal sliding mode-based adaptive smooth control methodology for a distributed space telescope demonstration mission. The distributed space telescope has a flexible focal length that corresponds to…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
Designing for rotational stability can dramatically affect the geometry of a space station. If improperly designed, the rotating station could end up catastrophically tumbling end-over-end. Active stabilization can address this problem;…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
This paper employs Pulse Width Modulation (PWM) method to a Nonlinear Model Predictive Control (NMPC) for satellite attitude control and detumbling. Magnetic torquers have been used as actuators for the stabilization and attitude control of…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
We provide stability estimates, obtained by implementing the Nekhoroshev theorem, in reference to the orbital motion of a small body (satellite or space debris) around the Earth. We consider a Hamiltonian model, averaged over fast angles,…
We discuss a model describing the effects of tidal dissipation on satellite's orbits. Tidal bulges are described in terms of a dumbbell, coupled to the rotation by a dissipative interaction. The assumptions on this dissipative coupling…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
This paper investigates the utilization of differential thrust to help a commercial aircraft with a damaged vertical stabilizer regain its lateral/directional stability. In the event of an aircraft losing its vertical stabilizer, the…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Slender structures, such as rods, often exhibit large nonlinear geometrical deformations even under moderate external forces (e.g., gravity). This characteristic results in a rich variety of morphological changes, making them appealing for…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
This paper presents a design for a drop tower test to evaluate a numerical model for a structurally reconfigurable spacecraft with actuatable joints, referred to as a transformable spacecraft. A mock-up robot for a 3U-sized transformable…
This paper investigates a swarm-based concept in which a number of nanosatellites, referred to as NanoTugs, are deployed by a mother spacecraft to capture and cooperatively stabilize and de-orbit space debris. The study focuses on the…
A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping.…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…