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