Suchergebnisse - "space robotics and automation"

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning von Rudin, Nikita, Kolvenbach, Hendrik, Tsounis, Vassilios, Hutter, Marco

“… In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered …”
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A natural indirect adaptive controller for a satellite-mounted manipulator von Giordano, Jacopo, Cenedese, Angelo, Serrani, Andrea

“… The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Model uncertainty on the …”
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Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators von Elias, Alexander J., Wen, John T.

“… Seven-degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance which must be parameterized to fully specify the joint …”
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Position Regulation of a Conductive Nonmagnetic Object With Two Stationary Rotating-Magnetic-Dipole Field Sources von Dalton, Devin K., Tabor, Griffin F., Hermans, Tucker, Abbott, Jake J.

“… Eddy currents induced by rotating magnetic dipole fields can produce forces and torques that enable dexterous manipulation of conductive nonmagnetic objects …”
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The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration von Schuster, Martin J., Muller, Marcus G., Brunner, Sebastian G., Lehner, Hannah, Lehner, Peter, Sakagami, Ryo, Domel, Andreas, Meyer, Lukas, Vodermayer, Bernhard, Giubilato, Riccardo, Vayugundla, Mallikarjuna, Reill, Josef, Steidle, Florian, von Bargen, Ingo, Bussmann, Kristin, Belder, Rico, Lutz, Philipp, Sturzl, Wolfgang, Smisek, Michal, Maier, Moritz, Stoneman, Samantha, Prince, Andre Fonseca, Rebele, Bernhard, Durner, Maximilian, Staudinger, Emanuel, Zhang, Siwei, Pohlmann, Robert, Bischoff, Esther, Braun, Christian, Schroder, Susanne, Dietz, Enrico, Frohmann, Sven, Borner, Anko, Hubers, Heinz-Wilhelm, Foing, Bernard, Triebel, Rudolph, Albu-Schaffer, Alin O., Wedler, Armin

“… Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking …”
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Editorial: Robotic in-space servicing, assembly and manufacturing von Barnhart, David, Mukherjee, Rudranarayan, Rai, Mini Chakravarthini, D'Amore, Nicholas, Henshaw, Carl Glen

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Active Exploitation of Redundancies in Reconfigurable Multirobot Systems von Roehr, Thomas M.

“… While traditional robotic systems come with a monolithic system design, reconfigurable multirobot systems can share and shift physical resources in an …”
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Challenges of SLAM in Extremely Unstructured Environments: The DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset von Giubilato, Riccardo, Sturzl, Wolfgang, Wedler, Armin, Triebel, Rudolph

“… We present the DLR Planetary Stereo, Solid-State LiDAR, Inertial (S3LI) dataset, recorded on Mt. Etna, Sicily, an environment analogous to the Moon and Mars, …”
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Design of Wheel Grouser Geometry With Reduced Sinkage for LEV-1 Lunar Rover von Otsuki, Masatsugu, Yoshikawa, Kent, Maeda, Takao, Usami, Naoto, Yoshimitsu, Tetsuo

“… Surface-mobile platforms have explored the moon and the red planet for nearly half century, providing a wealth of scientific data. However, surface mobility on …”
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MLNav: Learning to Safely Navigate on Martian Terrains von Daftry, Shreyansh, Abcouwer, Neil, Sesto, Tyler Del, Venkatraman, Siddarth, Song, Jialin, Igel, Lucas, Byon, Amos, Rosolia, Ugo, Yue, Yisong, Ono, Masahiro

“… We present MLNav , a learning-enhanced path planning framework for safety-critical and resource-limited systems operating in complex environments, such as …”
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Slip-Based Autonomous ZUPT Through Gaussian Process to Improve Planetary Rover Localization von Kilic, Cagri, Ohi, Nicholas, Gu, Yu, Gross, Jason

“… The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary …”
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Haptic Inspection of Planetary Soils With Legged Robots von Kolvenbach, Hendrik, Bartschi, Christian, Wellhausen, Lorenz, Grandia, Ruben, Hutter, Marco

“… Planetary exploration robots encounter challenging terrain during operation. Vision-based approaches have failed to reliably predict soil characteristics in …”
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Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots von Giordano, Alessandro Massimo, Ott, Christian, Albu-Schaffer, Alin

“… This letter addresses the coordinated control of the spacecraft's attitude and the end-effector pose of a manipulator-equipped space robot. A controller is …”
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Enabling Faster Locomotion of Planetary Rovers With a Mechanically-Hybrid Suspension von Rodriguez-Martinez, David, Uno, Kentaro, Sawa, Kenta, Uda, Masahiro, Kudo, Gen, Diaz, Gustavo Hernan, Umemura, Ayumi, Santra, Shreya, Yoshida, Kazuya

“… The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased …”
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Enabling Faster Locomotion of Planetary Rovers With a Mechanically-Hybrid Suspension von David Rodríguez-Martínez, Kentaro Uno, Kenta Sawa, Masahiro Uda, Gen Kudo, Gustavo Hernan Diaz, Ayumi Umemura, Shreya Santra, Kazuya Yoshida

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A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions von De Stefano, Marco, Mishra, Hrishik, Giordano, Alessandro M., Lampariello, Roberto, Ott, Christian

“… In this letter, we propose a novel method for the on-ground simulation of a space robotic mission, while exploiting a robotic hardware-in-the-loop facility …”
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Enhancing Rover Teleoperation on the Moon With Proprioceptive Sensors and Machine Learning Techniques von Coloma, Sofia, Martinez, Carol, Yalcn, Bars Can, Olivares-Mendez, Miguel A.

“… Geological formations, environmental conditions, and soil mechanics frequently generate undesired effects on rovers' mobility, such as slippage or sinkage …”
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A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures von Muhlbauer, Maximilian, Hulin, Thomas, Weber, Bernhard, Calinon, Sylvain, Stulp, Freek, Albu-Schaffer, Alin, Silverio, Joao

“… Virtual Fixtures (VFs) provide haptic feedback for teleoperation, typically requiring distinct input modalities for different phases of a task. This often …”
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Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration von Sasaki, Takahiro, Otsu, Kyohei, Thakker, Rohan, Haesaert, Sofie, Agha-mohammadi, Ali-akbar

“… In addition to conventional ground rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's highresolution data helps the rover to identify …”
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Extrinsic Calibration of Multiple Inertial Sensors From Arbitrary Trajectories von Lee, Jongwon, Hanley, David, Bretl, Timothy

“… We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid …”
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