相关论文: Space Robotics Part 2: Space-based Manipulators

In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most approaches in the literature rely upon a great understanding of…

Autonomous agents are increasingly expected to operate in complex, dynamic, and uncertain environments, performing tasks such as manipulation, navigation, and decision-making. Achieving these capabilities requires agents to understand the…

Space debris is a major threat to the satellite infrastructure. A collision with even small particle, e.g. 1 cm of size, can cause a catastrophic event when the parent body, spacecraft or upper stage, will break up into hundreds of…

This thesis is concerned with the application of operadic methods, particularly modular operads, to questions arising in the study of moduli spaces of surfaces as well as applications to the study of homotopy algebras and new constructions…

Surgical robotics holds much promise for improving patient safety and clinician experience in the Operating Room (OR). However, it also comes with new challenges, requiring strong team coordination and effective OR management. Automatic…

This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…

With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…

Laboratory experiments provide a valuable complement to explore the fundamental physics of space plasmas without the limitations inherent to spacecraft measurements. Specifically, experiments overcome the restriction that spacecraft…

This discussion paper aims to support the argument process for the need to develop a comprehensive science of resilient robotic autonomy. Resilience and its key characteristics relating to robustness, redundancy, and resourcefulness are…

The challenge of spatial resource allocation is pervasive across various domains such as transportation, industry, and daily life. As the scale of real-world issues continues to expand and demands for real-time solutions increase,…

Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acp{I-AUV} not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves…

The soft topological spaces and some their related concepts have stud- ied in [7]. In this paper, we introduce and study the notions of soft connected topological spaces after a review of preliminary definitions.

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

Spatial understanding is a crucial capability that enables robots to perceive their surroundings, reason about their environment, and interact with it meaningfully. In modern robotics, these capabilities are increasingly provided by…

Spatial computing is a technological advancement that facilitates the seamless integration of devices into the physical environment, resulting in a more natural and intuitive digital world user experience. Spatial computing has the…

This work was conceived based on Project-Based Learning (ABP) and presents the design, development and mathematical modeling steps of a low-cost robotic manipulator with five degrees of freedom through an interdisciplinary project linking…

This paper develops a robust optimization based method to design orbits on which the sensory perception of the desired physical quantities are maximized. It also demonstrates how to incorporate various constraints imposed by many spacecraft…

A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud…

Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…