Related papers: Software for the SpaceDREAM Robotic Arm
This paper describes the process of conceptualization, design, and testing of the Onboard Computer (OBC) Software for a 3U nanosatellite. The on-board computer of the satellite is responsible for initiating dataflow between onboard…
In-Space Servicing, Assembly, and Manufacturing (ISAM) is a set of emerging operations that provides several benefits to improve the longevity, capacity, mo- bility, and expandability of existing and future space assets. Serial robotic ma-…
In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based…
This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to the MIRROR (i.e., the Multi-arm Installation Robot for…
In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…
On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools for developing and testing space technology. This paper…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Training for telerobotic systems often makes heavy use of simulated platforms, which ensure safe operation during the learning process. Outer space is one domain in which such a simulated training platform would be useful, as On-Orbit…
Learning performant robot manipulation policies can be challenging due to high-dimensional continuous actions and complex physics-based dynamics. This can be alleviated through intelligent choice of action space. Operational Space Control…
Over a couple of decades, space junk has increased rapidly, which has caused significant threats to the LEO operation satellites. An Active Debris Removal $(ADR)$ concept continuously evolves for space junk removal. One of the ADR methods…
Whole Body Operational Space Control (WBOSC) is a pioneering algorithm in the field of human-centered Whole-Body Control (WBC). It enables floating-base highly-redundant robots to achieve unified motion/force control of one or more…
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of…
Space robotics poses unique challenges arising from the limitation of energy and computational resources, and the complexity of the environment and employed platforms. At the control center, offline motion planning is fundamental in the…
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…
Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whole-body control unreliable, especially in close-contact…
Autonomous space robotics is poised to play a vital role in future space missions, particularly for In-space Servicing, Assembly, and Manufacturing (ISAM). A key capability in such missions is the Robot-to-Robot (R2R) handover of…
The CISRU project has focused on the development of a software suite for planetary (and terrestrial) robotics, fully abstracted from the robotic platform and enabling interaction between rovers and astronauts in complex tasks and…
Deploying large, complex space structures is of great interest to the modern scientific world as it can provide new capabilities in obtaining scientific, communicative, and observational information. However, many theoretical mission…