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

Session WedFT10 Lince Wednesday, October 10, 2012, 16:15–17:30
Manipulation and Navigation in Space Applications
Chair
Co-Chair
16:15–16:30 WedFT10.1
Experimental Results for Image-based
Geometrical Reconstruction for Spacecraft
Rendezvous Navigation with Unknown and
Uncooperative Target Spacecraft
Frank Schnitzer and Klaus Janschek
Institute of Automation, Technische Universität Dresden, Germany
Georg Willich
Astrium GmbH, Germany
• unknown and uncooperative target
objects observed with a camera only
vision system
• the target's 3D structure is reconstructed
from a sparse point cloud extracted from
a rendezvous-SLAM algorithm
• 3D model can be used in a feedback
manner for enhancing visual navigation
processing tasks
• demonstrated by experiments with real
image data from in-house laboratory
spacecraft rendezvous simulator
16:45–17:00 WedFT10.3
Launching Penetrator
By Casting Manipulator System
Hitoshi Arisumi
Intelligent Systems Research Institute, AIST, Japan
Masatsugu Otsuki and Shinichiro Nishida
Institute of Space and Astronautical Science, JAXA, Japan
• Proposal of a launching planner that
compensates for the timing error of
releasing a penetrator
• Development of a system to launch the
penetrator with keeping its orientation
constant
• Realization of the target motion with the
hardware
• Verification of the effectiveness of the
proposed method by showing that the
error of the landing position is less than
3.6% of the launching distance through
experiments
Casting manipulator system
to launch the penetrator
17:15–17:30 WedFT10.5
A Grouser Spacing Equation for Determining
Appropriate Geometry of Planetary Rover Wheels
Krzysztof Skonieczny, Scott J. Moreland,
and David S. Wettergreen
Robotics Institute, Carnegie Mellon University, USA
• Wheel geometric and operating
parameters are related, to predict
minimum number of grousers
• Wheels without enough grousers
periodically induce forward soil
flow ahead of the wheel
• Forward soil flow is indicative of
rolling resistance that reduces
traction
• Soil flow is observed through a
glass sidewall and analyzed using
computer vision
Soil flow magnitude (top) and direction
(bottom), showing periodic forward flow
16:30–16:45 WedFT10.2
Accuracy Improvement of
Delay Time Compensation Based on
the Coefficient of Restitution for a Hybrid Simulator
Y. Satake, S. Abiko, X. Jiang, and M. Uchiyama
Department of Mechanical Systems and Design, Tohoku University, Japan
A. Konno
Division of System Science and Informatics, Hokkaido University, Japan
• A hybrid simulator is effective method to
examine the space robotic on the ground
• This simulator suffers from a problem of
energy increase due to delay times
• The aim of this paper is to improve
accuracy of delay time compensation
• A collision experiment is carried out to
validate the accuracy of the proposed
compensation
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–178–
Overview of the Hybrid Simulator
17:00–17:15 WedFT10.4
Augmented Reality Environment with Virtual
Fixtures for Robotic Telemanipulation in Space
Tian Xia, Anton Deguet, Louis Whitcomb and Peter Kazanzides
Laboratory for Computational Sensing and Robotics,
Johns Hopkins University, USA
Simon Leonard
Children’s National Medical Center (Washington DC), USA
• Developed an augmented reality
framework that enables operator to design
and implement assistive virtual fixtures for
teleoperation with significant time delay
• Validated technical approach for on-orbit
satellite servicing tasks on ground
simulation robotic platform
• Approach reduces task completion time
and eliminating manipulation error
• Approach provides improved virtual
telepresence for operator
vf parameters
modification Task Specific
Virtual Fixture
Models
Task Specific
Virtual Fixture
Models
Remote Sensing
Operator
constraints
generation
bi-directional communication
model update delay
constraints
generation
closed-loop
control
sensor
data
motion commands
Master
Controller
motion commands
Remote Slave
Controller
Remote
Enviroment
Figure: Virtual fixture for teleoperation
system architecture
Master Side
Remote Side