相关论文: Estimation of inertial properties of a rigid struc…

This paper presents a detailed system design and component selection for the Transforming Proximity Operations and Docking Service (TPODS) module, designed to gain custody of uncontrolled resident space objects (RSOs) via rendezvous and…

This paper presents a machine learning approach to estimate the inertial parameters of a spacecraft in cases when those change during operations, e.g. multiple deployments of payloads, unfolding of appendages and booms, propellant…

In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…

As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit capabilities. New space-borne observatories, large orbital…

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…

Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target…

We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…

The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system…

In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…

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…

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…

Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…

The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…

Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…

The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…

The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out precise tasks. In this paper, we consider the scenario of…

Satellites and their instruments are subject to the motion stability throughout their lifetimes. The reliability of the large flexible space structures (LFSS) is particularly important for the motion stability of satellites and their…

Manipulation is a key capability in domestic service robots, as can be seen in the rulebooks of last Robocup@Home editions. Currently, object recognition is performed based mostly on visual information. Some robots use also 3D information…

Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…

A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…