相关论文: A Scalable Tabletop Satellite Automation Testbed:D…
This paper presents a standing support mobility robot "Moby" developed to enhance independence and safety for elderly individuals during daily activities such as toilet transfers. Unlike conventional seated mobility aids, the robot…
This paper presents a strategy for optimal manoeuvre design of multi-satellite formation flying in low Earth orbit environment, with the aim of providing a tool for mission operation design. The proposed methodology for formation flying…
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…
Given the increasing need for large aperture antennas in space missions, the difficulty of fitting such structures into small launch vehicles has prompted the design of deployable antenna systems. The thesis introduces a new Triple Scissors…
Electromagnetic systems have been used extensively for the control magnetically actuated objects, such as in microrheology and microrobotics research. Therefore, optimizing the design of such systems is highly desired. Some of the features…
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of…
This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to different environments and tasks. These modular…
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end…
This paper proposes a three-dimensional (3D) satellite-terrestrial communication network assisted with reconfigurable intelligent surfaces (RISs). Using stochastic geometry models, we present an original framework to derive tractable yet…
Soft robots offer adaptability and safe interaction with complex environments. Rapid prototyping kits that allow soft robots to be assembled easily will allow different geometries to be explored quickly to suit different environments or to…
In the field of space exploration, floating platforms play a crucial role in scientific investigations and technological advancements. However, controlling these platforms in zero-gravity environments presents unique challenges, including…
The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
In this paper, we propose a modular navigation system that can be mounted on a regular powered wheelchair to assist disabled children and the elderly with autonomous mobility and shared-control features. The lack of independent mobility…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…