Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedDT8 Gemini 1 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 14:00–15:00<br />
Space Robotics<br />
Chair Paolo Fiorini, Univ. of Verona<br />
Co-Chair Kazuya Yoshida, Tohoku Univ.<br />
14:00–14:15 WedDT8.1<br />
Emulating Self-reconfigurable Robots<br />
- Design of the SMORES System<br />
Jay Davey and Ngai Ming Kwok<br />
School of Mechanical and Manufacturing Engineering,<br />
University of New South Wales, Australia<br />
Mark Yim<br />
Mechanical Engineering and Applied Science,<br />
University of Pennsylvania, USA<br />
• S.M.O.R.E.S. - Self-assembling<br />
MOdular Robot for Extreme<br />
Shape-shifting)<br />
• Development of a Universal robot<br />
• Emulation of existing selfreconfigurable<br />
modular robots<br />
• Utilizing chain, lattice and mobile<br />
self-reconfiguration strategies<br />
• Self-assembly<br />
SMORES<br />
14:30–14:45 WedDT8.3<br />
Impedance-Based Contact Control of a Free-<br />
Flying Space Robot with a Compliant Wrist for<br />
Non-cooperative Satellite Capture<br />
Naohiro Uyama, Kenji Nagaoka, and Kazuya Yoshida<br />
Department of Aerospace Engineering, Tohoku University, Japan<br />
Hiroki Nakanishi<br />
Innovative Technology Research Center, JAXA, Japan<br />
• Impedance-based contact control method<br />
from a viewpoint of coefficient of restitution<br />
is presented.<br />
• The dominant contact dynamics<br />
parameters are approximated by wrist’s<br />
spring and damper elements.<br />
• Impedance parameter tuning method is<br />
proposed utilizing the coefficient of<br />
restitution.<br />
• Experimental verification concludes the<br />
validity and availability of the proposed<br />
method.<br />
Proposed impedance parameter<br />
tuning method from desired<br />
coefficient of restitution<br />
14:15–14:30 WedDT8.2<br />
Slope Traversability Analysis of<br />
Reconfigurable Planetary Rovers<br />
Hiroaki Inotsume, Masataku Sutoh,<br />
Kenji Nagaoka, Keiji Nagatani, and Kazuya Yoshida<br />
Department of Aerospace Engineering, Tohoku University, Japan<br />
• Effect of attitude changes<br />
of a reconfigurable rover<br />
on its slippages over<br />
sandy slopes is analyzed<br />
• Wheel-soil interaction is<br />
modeled based on<br />
terramechanics<br />
• Slope-traversing<br />
experiments and<br />
numerical simulations are<br />
conducted<br />
14:45–15:00 WedDT8.4<br />
Tracking complex targets for space rendezvous<br />
and debris removal applications<br />
Antoine Petit<br />
Lagadic Team, INRIA Rennes, France<br />
Eric Marchand<br />
Lagadic Team, IRISA, Université Rennes 1, France<br />
Keyvan Kanani<br />
Astrium, Toulouse, France<br />
• A generic 3D model-based tracking<br />
method to fully localize space targets.<br />
• It processes in real time the complete 3D<br />
model of complex objects, avoiding any<br />
manual redesign of the model.<br />
• Model projection performed through GPU<br />
rendering.<br />
• Extraction of both salient geometrical<br />
edges and textures edges from the<br />
rendered scene.<br />
• Classical edge-based tracking and pose<br />
estimation techniques.<br />
• Better robustness with a multiple<br />
hypothesis tracking solution.<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–158–<br />
Some experimental results, on<br />
real and synthetic images