Published on March 11, 2014
Space ROBOTICS SYSTEM: Space ROBOTICS SYSTEM By: John P and Cheyenne D What is it?: What is it? The goal of this project is to develop sensing, planning, and control technologies to enable free-flying and free-floating space robots to perform the tasks expected in future missions. How is it innovative?: How is it innovative? Sensing strategies to determine the dynamic state, shape, and parameters of unknown/uncertain space targets Planning algorithms that make use of target knowledge and fundamental mechanics to determine safe approach trajectories and manipulation schemes Control algorithms to execute these plans in the presence of high joint friction, limited actuation, sensor uncertainty, and dynamic interactions between target and robot Multi-robot cooperative approaches that enhance the efficiency, reliability, and effectiveness of the above methods What will this be used for?: What will this be used for? Current work is focused on robustly and efficiently extracting this information using sequences of range image data, taking advantage of fundamental knowledge of mechanics and sensor uncertainty models.