18 citations · 77 across the 34 of their papers we have counts for
7 papers · 1 filter
Admittance Control-based Floating Base Reaction Mitigation for Limbed Climbing Robots
Masazumi Imai, Kentaro Uno, Kazuya Yoshida
Reaction force-aware control is essential for legged climbing robots to ensure a safer and more stable operation. This becomes particularly crucial when navigating steep terrain or…
Modeling of Terrain Deformation by a Grouser Wheel for Lunar Rover Simulation
Junnosuke Kamohara, Vinicius Ares, James Hurrell +6
Simulation of vehicle motion in planetary environments is challenging. This is due to the modeling of complex terrain, optical conditions, and terrain-aware vehicle dynamics. One o…
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…
Tightly-Coupled LiDAR-IMU-Wheel Odometry with an Online Neural Kinematic Model Learning via Factor Graph Optimization
Taku Okawara, Kenji Koide, Shuji Oishi +4
Environments lacking geometric features (e.g., tunnels and long straight corridors) are challenging for LiDAR-based odometry algorithms because LiDAR point clouds degenerate in suc…
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…
Risk-Aware Coverage Path Planning for Lunar Micro-Rovers Leveraging Global and Local Environmental Data
Shreya Santra, Kentaro Uno, Gen Kudo +1
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilit…
Tightly-Coupled LiDAR-IMU-Wheel Odometry with Online Calibration of a Kinematic Model for Skid-Steering Robots
Taku Okawara, Kenji Koide, Shuji Oishi +4
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, t…