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The paper proposes a method of 6-DoF Monte-Carlo localization (MCL) for arbitrary. We verify previous method and propose the method that separating calculation of self-position and orientation. The basic evaluation results show that the proposed method improves the stability. Furthermore, the proposed method show stable estimation outside the experimental area.
Automation of construction is urgent needs for improving efficiency of works, reducing the number of personnel, and working in extreme environments such as other planet or moon or disaster-stricken area. However, the current situation is still insufficient due to reasons of such complexity of work and high risk especially at building sites. In terms of heavy machinery in building construction, it...
The number of artificial space debris around the earth has been increasing, and it is necessary to remove this debris to prevent collision with satellites in operation. One of the most practical methods which remove large debris, such as non-functioning satellite, is attaching a propulsion system for reentry. However, it exists difficulty to attach the system because non-cooperative satellites are...
This paper presents the impedance-based contact control of a free-flying space robot utilizing a compliant wrist for non-cooperative satellite capture operation. An open loop impedance control law based on contact dynamics model is introduced to realize a desired coefficient of restitution defined between a manipulator hand of a space robot and a contact point on a free-flying target. The coefficient...
This paper presents an impedance-based contact control of a free-flying space robot with respect to the coefficient of restitution. Since no object is constrained in space, the contact between two objects in orbit must be treated carefully so as to prevent the objects from inducing undesired contact force and post-contact relative motion. As a solution to this issue, the authors propose a contact...
On-ground experiment for space robotic system is essential to validate constructed robotic system prior to launch. This paper presents an integrated on-ground experimental environment for orbital robotic system. The experimental environment utilizes an air-floating testbed to realize two-dimensional micro-gravity environment on ground. As manipulation system, the constructed environment adopts a ground-based...
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