6 accepted papers
This paper presents a novel approach to sampling subsurface asteroidal regolith under severe time constraints. Sampling operations that must be completed within a few hours require techniques that can manage subsurface obstructions that may be encountered. The large uncertainties due to our lack of…
This paper presents a contact-event-triggered filter using only a force-torque sensor with impedance control for non-cooperative, rotating, heavy object capture. Contact events are modeled for prediction, and detected to trigger the particle filter's updating process. By combining these features, a…
This paper proposes real-time collision-based contact mode estimation with only a force-torque sensor for capturing a moving rigid body. The contact modes are defined for determining when to generate the signal to close the robotic hand for establishing object closure. In our particle filter approac…
This paper presents the path planning and coordinated control of a space robot with a manipulator for capturing a rotating large object. As the grasping point on a rotating large object is translationally moving fast, an appropriate strategy and coordinated motion control of the spacecraft base and…
This paper discusses robust capture of a free-floating target using a robotic arm. The position error resulting from sensor errors and time delay can cause undesired contact and unstable control. In this paper, we propose a caging-based rigid gripper and impedance control, which enables the robot to…
A rocket-propelled miniature robot is capable to explore sites that planetary rovers cannot reach with efficiency in locomotion distance per mass. The technical difficulty is the significant variance in its flight distance because of two factors: sensitivity of error in the center of gravity with re…