Trajectory Optimization for Dynamic Grasping in Space Using Adhesive Grippers

MacPherson, Roshena; Hockman, Benjamin; Bylard, Andrew; Estrada, Matthew A.; Cutkosky, Mark R.; Pavone, Marco

doi:10.1007/978-3-319-67361-5_4

Cited by 6 publications

(5 citation statements)

References 12 publications

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“…A convex programming-based guidance scheme ( Misra and Bai, 2017 ) and an optimization technique for the pre-capture trajectory ( Aghili, 2009 ) were proposed, where only the SMS base attitude is controlled (partial free-floating mode), removing the nonholonomic characteristics of the system. In MacPherson et al (2018) , an optimal control strategy to exploit the dynamic robustness of gecko-inspired dry adhesive grippers for the task of grasping a free-floating, spinning object is presented. The spacecraft rendezvous guidance problem was also tackled in the convex programming-based context in Virgili-Llop et al (2017 , 2019) , where convexification was applied to the collision avoidance constraints, deriving from the solar appendages of the target.…”

Section: Motion Planningmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

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Section: Motion Planningmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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Section: Applications Overviewmentioning

confidence: 99%

“…[8] However, even if those grapple points, which are known to be safe and secure for a robot to hold on to, exist, attaching to them often requires a robot to utilize complex trajectory planning and control algorithms to account for satellite angular momentum. [9,10] To avoid the need for complex trajectories and control algorithms, researchers have posed numerous solutions including, among other things, nets, and harpoons. [11,12] This article is not a review of all potential solutions to the satellite capture problem but rather focuses on robotic solutions that rendezvous and physically adhere to orbital debris or satellites with a focus on attaching at nonpredesignated locations.…”

Section: Doi: 101002/aisy202100063mentioning

confidence: 99%

“…Similarly, the control strategies needed to attach to featureless surfaces for free-floating spinning spacecraft have been identified. MacPherson et al and Tanaka and Spenko [9,64] focused on flat objects while Estrada et al [63] used a gripper designed to capture cylindrical objects. Bylard et al [65] investigated a similar idea but with a focus on the control and trajectory of the free flying robot.…”

Section: Engineered Gecko-like Adhesives In Spacementioning

confidence: 99%

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Making Contact: A Review of Robotic Attachment Mechanisms for Extraterrestrial Applications

Spenko

2021

Advanced Intelligent Systems

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For many applications, mobile robots must adhere to, grasp, or otherwise attach to external objects to manipulate or anchor to them. In space applications, these actions may take place during satellite grappling, orbital debris capture, perching, or sample extraction. In many of these cases, specialized attachment mechanisms have been proposed because of the unique challenges found in the space environment. Namely, many attachment mechanism technologies that work on Earth are not viable in space. For example, electromagnetism requires ferromagnetic materials, which are not commonly found in space structures; suction does not work because of a lack of an atmosphere; and pressure sensitive adhesives, such as tape, outgas in a vacuum. Instead, there are numerous other technologies that, for a variety of reasons, are more attuned to the space environment. This article presents a review of such technologies with a focus on bio-inspired fibrillar controllable adhesives (i.e., gecko-like, microstructured, or dry adhesives), electrostatic adhesives, and microspines.The article is organized as follows. Section 2 provides an overview of potential robotic applications in the space environment. Potential is key in this instancemost of the technologies described in this article are mature and have been tested thoroughly in simulated space environments, but the leap from experiments to deployment in real missions has yet to occur at scale or even at all. Reasons for this will be discussed throughout the article and in Section 6, which looks at future challenges in this field. Prior to that, Section 3 reviews gecko-like adhesives, and electrostatic adhesion is addressed in Section 4 followed by microspines in Section 5. Applications OverviewThis section details four applications for robotic attachment mechanisms in space and extraterrestrial use: 1) satellite and orbital debris capture, 2) perching drones for astronaut assistance and monitoring, 3) anchoring on asteroids and other rocky surfaces, and 4) climbing for planetary exploration.Following it are three sections that elaborate on the technologies. Satellite and Orbital Debris CaptureDue to the exorbitant cost of launching a satellite, it may be economically advantageous to capture and service satellites that have malfunctioned or are otherwise in need of repair. [1] This concept, that it could be more cost and time efficient to repair, refuel, and otherwise service satellites in space as opposed to launching a new satellite, has seen significant traction recently. [2] In addition, orbital debris is already an issue as there are an estimated 34 000 pieces larger than 20 cm in low Earth orbit that pose significant danger to operational satellites, [3,4] even those that use physical protection. [5] There have been several examples of satellites being lost to or suspected of being lost to orbital debris. [6] Furthermore, there have been at least 16 maneuvers,

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“…A chaser starting at a sufficiently far-away hold position and executing a free-flying roto-translation maneuver is then required. This type of maneuver has been extensively studied with a wide variety of guidance and control approaches, such as: optimal control (Aghili, 2008 , 2009a ; Seweryn and Banaszkiewicz, 2008 ; Boyarko et al, 2011 ), optimization-based (Jacobsen et al, 2002 ; Lampariello, 2010 ; Lampariello and Hirzinger, 2013 ; Gasbarri and Pisculli, 2015 ; MacPherson et al, 2018 ), model predictive control (Rybus et al, 2017 ), and rapidly-exploring random trees (Persson and Sharf, 2015 ; Rybus and Seweryn, 2015 ).…”

Section: Introductionmentioning

confidence: 99%

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

Virgili-Llop

Romano

2019

Front. Robot. AI

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A maneuver to capture and detumble an orbiting space object using a chaser spacecraft equipped with a robotic manipulator is presented. In the proposed maneuver, the capture and detumble objectives are integrated into a unified set of terminal constraints. Terminal constraints on the end-effector's position and velocity ensure a successful capture, and a terminal constraint on the chaser's momenta ensures a post-capture chaser-target system with zero angular momentum. The manipulator motion required to achieve a smooth, impact-free grasp is gradually stopped after capture, equalizing the momenta across all bodies, rigidly connecting the two vehicles, and completing the detumble of the newly formed chaser-target system without further actuation. To guide this maneuver, an optimization-based approach that enforces the capture and detumble terminal constraints, avoids collisions, and satisfies actuation limits is used. The solution to the guidance problem is obtained by solving a collection of convex programming problems, making the proposed guidance approach suitable for onboard implementation and real-time use. This simultaneous capture and detumble maneuver is evaluated through numerical simulations and hardware-in-the-loop experiments. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as Supplementary Material.

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Trajectory Optimization for Dynamic Grasping in Space Using Adhesive Grippers

Cited by 6 publications

References 12 publications

Robotic Manipulation and Capture in Space: A Survey

Robotic Manipulation and Capture in Space: A Survey

Making Contact: A Review of Robotic Attachment Mechanisms for Extraterrestrial Applications

Simultaneous Capture and Detumble of a Resident Space Object by a Free-Flying Spacecraft-Manipulator System

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