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The goal of FabSpace 2.0 project is to transform Universities to Open Innovation Centers for their corresponding region and improve their societal contribution to the socio-economic and environmental performance. For this purpose, the project provides to students, researchers, as well as to citizens or even companies, with a framework and a digital platform which gives open access to a range of geodata,...
Exploitation of space must benefit from the latest advances in robotics. On-orbit servicing is a clear candidate for the application of autonomous rendezvous and docking mechanisms. However, during the last three decades most of the trials took place combining extravehicular activities (EVAs) with telemanipulated robotic arms. The European Space Agency (ESA) considers that grasping and refuelling...
On-orbit servicing missions will rely on space robots; however their complexity requires prior careful studies. Among these, robotic docking is especially challenging. In this work, the robotic impact docking between two space systems is considered. The impedance properties required to design an impedance controller are studied. These properties include the ratio of the masses between the systems...
During capture of a free-flying object, a robotic servicer can be subject to impacts, which may separate it from the object or damage crucial subsystems. However, the reactions can be minimized using the Centre of Percussion (CoP) concept. Following a brief introduction of the two- and three-dimensional cases, the performance of a robot under impact is assessed when the CoP concept is employed. The...
Terrain compliance is a critical parameter for the performance of legged locomotion. In this work, a single actuator monopod robot hopping on rough compliant terrain is considered. Based on our controller for flat compliant terrains, this paper introduces the necessary modifications, which allow the robot to tackle the disturbance of small inclinations. Using the developed method, the robot is examined...
Legged locomotion is a rapidly advancing area in robotics, yet still a large number of open questions exist. This work focuses on the foot-terrain interaction and its effect on the motion of a one-legged system. This interaction is usually tackled by disregarding some of the effects of ground deformation like permanent deformation and compaction. Inspired by other areas of engineering, an impact dynamics...
One of the most demanding tasks for a robotic servicer is capturing a target. During this task, the mechanical systems can be subject to large forces for short duration (impacts). In space servicers, these impacts may render the capturing of a target impossible without the use of undesirable fuel-consuming maneuvers. This paper presents an approach for minimizing impact reactions, using the Center...
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