4 papers
Path-Following Control and Terramechanics Analysis for Planetary Rovers Under Wheel-to-Wheel Traction Asymmetry
Ryuya Matsuoka, Keisuke Takehana, Kentaro Uno +2
This paper proposes a control strategy for path following that is model-free and relies solely on deceleration for skid-steering planetary rovers navigating deformable loose terrai…
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…
Global Optimization Framework for Automated Low-Thrust Gravity-Assist Trajectory Design
Ryo Iijima, Kenshiro Oguri, Toshinori Kuwahara
Gravity-assist trajectory design requires searching numerous leg combinations, but applying nonlinear programming (NLP) for low-thrust trajectory optimization to all combinations i…
Lessons Learned from Structural Design and Vibration Testing of 50-kg Microsatellites Deployed from the International Space Station
Yuji Sakamoto, Junichi Kurihara, Shinya Fujita +2
Hokkaido University and Tohoku University have been developing and operating a constellation of 50-cm-class microsatellites for Earth observation. DIWATA-1, launched in 2016, was d…