TY - GEN
T1 - FORROST
T2 - 2015 IEEE Aerospace Conference, AERO 2015
AU - Lampariello, R.
AU - Oumer, N. W.
AU - Artigas, J.
AU - Rackl, W.
AU - Panin, G.
AU - Purschke, R.
AU - Harder, J.
AU - Walter, U.
AU - Frickel, J.
AU - Masic, I.
AU - Ravandoor, K.
AU - Scharnagl, J.
AU - Schilling, K.
AU - Landzettel, K.
AU - Hirzinger, G.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/5
Y1 - 2015/6/5
N2 - Orbital robotics is receiving growing attention worldwide for applications in servicing and repositioning of partially or fully defective satellites. In this paper, we present the scope and main results of a four-year research project, which aimed at developing necessary robotic technologies for such applications. The scope is two-fold, since we address both the human-operated robotic operational mode, referred to in robotics as force-feedback teleoperation, as well as the alternative autonomous mode, for the specific task of approaching and grasping a free-tumbling target satellite. We present methodological developments and experimental as well as numerical validations in the fields of tele-communications, computer vision, robot and spacecraft control and system identification. The results of this work constitute important advances in the fundamental building blocks necessary for the orbital applications of interest.
AB - Orbital robotics is receiving growing attention worldwide for applications in servicing and repositioning of partially or fully defective satellites. In this paper, we present the scope and main results of a four-year research project, which aimed at developing necessary robotic technologies for such applications. The scope is two-fold, since we address both the human-operated robotic operational mode, referred to in robotics as force-feedback teleoperation, as well as the alternative autonomous mode, for the specific task of approaching and grasping a free-tumbling target satellite. We present methodological developments and experimental as well as numerical validations in the fields of tele-communications, computer vision, robot and spacecraft control and system identification. The results of this work constitute important advances in the fundamental building blocks necessary for the orbital applications of interest.
UR - http://www.scopus.com/inward/record.url?scp=84940706838&partnerID=8YFLogxK
U2 - 10.1109/AERO.2015.7118944
DO - 10.1109/AERO.2015.7118944
M3 - Conference contribution
AN - SCOPUS:84940706838
T3 - IEEE Aerospace Conference Proceedings
BT - 2015 IEEE Aerospace Conference, AERO 2015
PB - IEEE Computer Society
Y2 - 7 March 2015 through 14 March 2015
ER -