6 papers
Graph-Based Simultaneous Path and Foothold Planning for Multi-Limbed Intra-Vehicular Robots in Space Stations
Masazumi Imai, Kentaro Uno, Toshinori Kuwahara +1
Robot-aided operations in space stations are essential for reducing the workload of astronauts and improving the efficiency of on-orbit activities. Multi-limbed intra-vehicular rob…
LIMBERO: A Limbed Climbing Exploration Robot Toward Traveling on Rocky Cliffs
Kentaro Uno, Masazumi Imai, Kazuki Takada +7
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven…
Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot
Seiko Piotr Yamaguchi, Kentaro Uno, Yasumaru Fujii +4
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortl…
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…
Mobility Strategy of Multi-Limbed Climbing Robots for Asteroid Exploration
Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai +5
Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the l…
RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity
Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai +2
Robotic mobility in microgravity is necessary to expand human utilization and exploration of outer space. Bio-inspired multi-legged robots are a possible solution for safe and prec…