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

This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…

Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…

Delivering groceries or cleaning airports, mobile robots exist in public spaces. While these examples showcase robots that execute tasks, this paper explores mobile robots that encourage posthuman collaboration rather than managing…

We present SpaceAgents-1, a system for learning human and multi-robot collaboration (HMRC) strategies under microgravity conditions. Future space exploration requires humans to work together with robots. However, acquiring proficient robot…

Robotic arms mounted on spacecraft, known as space manipulator systems (SMSs), are critical for enabling on-orbit assembly, satellite servicing, and debris removal. However, controlling these systems in microgravity remains a significant…

Autonomous spacecraft relative navigation technology has been planned for and applied to many famous space missions. The development of on-board electronics systems has enabled the use of vision-based and LiDAR-based methods to achieve…

In otolaryngologic surgery, endoscopy is increasingly used to provide a better view of hard-to-reach areas and to promote minimally invasive surgery. However, the need to manipulate the endoscope limits the surgeon's ability to operate with…

An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…

Mechanical systems are often characterized only by their response to certain loads known from experiments or simulations. The obtained data can be used for various purposes: system analysis, design of mathematical models, or construction of…

This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

The number of space objects will grow several times in a few years due to the planned launches of constellations of thousands microsatellites. It leads to a significant increase in the threat of satellite collisions. Spacecraft must…

The present paper is a sequel to our paper "Metric characterization of isometries and of unital operator spaces and systems". We characterize certain common objects in the theory of operator spaces (unitaries, unital operator spaces,…

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…

Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…

The aim of this paper is to present a self contained introduction to the Hubbard model and some of its applications.The paper consists of two parts: the first will introduce the basic notions of the Hubbard model starting from the…

This is a follow-up tutorial article of our previous article entitled "Robot Basics: Representation, Rotation and Velocity". For better understanding of the topics covered in this articles, we recommend the readers to first read our…

The topic of this final qualification work was chosen due to the importance of developing robotic systems designed to assist people with disabilities. Advances in robotics and automation technologies have opened up new prospects for…