Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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