4 papers
Towards Interaction State Recognition in Sensorized Gecko-Inspired Adhesive Interfaces for Orbital Servicing
Eduart Abdullahu, Francesco Grella, Carol Martinez
Reliable contact establishment remains a critical challenge for autonomous on-orbit servicing (OOS), particularly when interacting with non-cooperative targets. Gecko-inspired dry…
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…
Generating Whole-Body Avoidance Motion through Localized Proximity Sensing
Simone Borelli, Francesco Giovinazzo, Francesco Grella +1
This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed appr…
Touch-to-Touch Translation -- Learning the Mapping Between Heterogeneous Tactile Sensing Technologies
Francesco Grella, Alessandro Albini, Giorgio Cannata +1
The use of data-driven techniques for tactile data processing and classification has recently increased. However, collecting tactile data is a time-expensive and sensor-specific pr…