1 citations · 1 across the 5 of their papers we have counts for
5 papers
PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations
Ricard Marsal I Castan, Akiyoshi Uchida, Aman Arora +7
Low-cost planar air-bearing testbeds have matured into a standard proxy for free-flying spacecraft GNC, but they remain largely thruster-only and are rarely equipped for contact-ri…
Online Inertia Parameter Estimation for Unknown Objects Grasped by a Manipulator Towards Space Applications
Akiyoshi Uchida, Antonine Richard, Kentaro Uno +2
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the proble…
Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking
Kenta Iizuka, Akiyoshi Uchida, Kentaro Uno +1
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose…
Structure from Motion-based Motion Estimation and 3D Reconstruction of Unknown Shaped Space Debris
Kentaro Uno, Takehiro Matsuoka, Akiyoshi Uchida +1
With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the…
Space Debris Reliable Capturing by a Dual-Arm Orbital Robot: Detumbling and Caging
Akiyoshi Uchida, Kentaro Uno, Kazuya Yoshida
A chaser satellite equipped with robotic arms can capture space debris and manipulate it for use in more advanced missions such as refueling and deorbiting. To facilitate capturing…