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cs.RO2025
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…
cs.RO2025
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…