Huge-Object Manipulation in Space by Vehicle-Type Robots
نویسندگان
چکیده
منابع مشابه
Large payload manipulation by space robots
In this paper, kinematic models for multiple manipulator space robotic systems are developed, as functions of body-fixed barycentric vectors. These models are used to define workspaces for single and multi-manipulator freefloating systems. It is shown that following the capture of a large payload, the location of these workspaces in space changes, and their size is reduced. These effects, commo...
متن کاملObject Closure and Manipulation by Multiple Cooperating Mobile Robots
We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. In contrast to Form or Force Closure, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the r...
متن کاملDetection of Utterances Directed to Robots by Situated Understanding in Object Manipulation Tasks
In this paper, we propose a novel method to detect robot-directed speech by situated understanding in human-robot physical interaction. The originality of this work is the introduction of a Multimodal Semantic Confidence measure based domain classification method, which is used to decide whether the speech can be interpreted as a feasible action under the current physical situation in an object...
متن کاملPOMDP based manipulation planning in object composition space
Service robots in domestic environments need the ability to manipulate objects without good prior models in order to cope with the variability of such environments. When multiple measurements can be acquired around an isolated object, standard approaches work satisfactorily as the generated 3-D models can often be used for successful manipulation. However, in cluttered scenes with multiple unkn...
متن کاملVehicle Manoeuvring and Multiarm Motion Coordination within Space Manipulation
The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of suitably exploiting the extra dof’s offered by the vehicle for better accomplishing the assig...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
سال: 1995
ISSN: 1340-8062
DOI: 10.1299/jsmec1993.38.543