Zobrazeno 1 - 10
of 25
pro vyhledávání: '"Alessandro M. Giordano"'
Autor:
Steffen Jaekel, Roberto Lampariello, Wolfgang Rackl, Marco De Stefano, Nassir Oumer, Alessandro M. Giordano, Oliver Porges, Markus Pietras, Bernhard Brunner, John Ratti, Quirin Muehlbauer, Markus Thiel, Stephane Estable, Robin Biesbroek, Alin Albu-Schaeffer
Publikováno v:
Frontiers in Robotics and AI, Vol 5 (2018)
This paper presents a robotic capture concept that was developed as part of the e.deorbit study by ESA. The defective and tumbling satellite ENVISAT was chosen as a potential target to be captured, stabilized, and subsequently de-orbited in a control
Externí odkaz:
https://doaj.org/article/0f44d2ec02a643199ed68cd37ea7320d
Autor:
Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano, Annika Schmidt, Alin Albu-Schäffer
Publikováno v:
IEEE Robotics and Automation Letters. 8:2285-2292
Publikováno v:
IEEE Robotics and Automation Letters
We present a numerical algorithm based on invariant set theory to evaluate the worst-case performance of PD-controlled mechanical systems affected by bounded disturbances. By performing a specific coordinate transformation, the search and computation
Autor:
Johannes Englsberger, Achraf Hiddane, Alessandro M. Giordano, Florian Loeffl, Christian Ott, Robert Schuller, George Mesesan
Publikováno v:
HUMANOIDS
This paper introduces the Simplest Articulated Free-Floating (SAFF) model, a low-dimensional model facilitating the examination of controllers, which are designed for free-floating robots that are subject to gravity. Two different state-of-the-art co
Publikováno v:
IROS
In this paper, we propose three novel Hardware-in-the-loop simulation (HLS) methods for a fully-actuated orbital robot in the presence of external interactions using On-Ground Facility Manipulators (OGFM). In particular, a fixed-base and a vehicle-dr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b5eb0543ace1290b80ac903dad11829a
https://doi.org/10.1109/iros45743.2020.9341633
https://doi.org/10.1109/iros45743.2020.9341633
Publikováno v:
CDC
In this paper, we propose a novel controller to stabilize the shape (joints) of an orbital robot about a setpoint, i.e. a regulation task, in the specific setting that its spacecraft velocity is unmeasured. For this output feedback stabilization prob
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::82fcd858596d457b3f9c819e41ae623f
https://elib.dlr.de/192902/
https://elib.dlr.de/192902/
Publikováno v:
ICRA
In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator (PAN–1)1 with a passive first joint subject to actuator constraints (N ⩾ 3), covering both stabilization and tracking tasks. Such und
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e891e9ded3ce6df9175e8f2201fff66e
https://doi.org/10.1109/icra48506.2021.9561278
https://doi.org/10.1109/icra48506.2021.9561278
In this paper, the contact force detection, isolation and estimation problems for an orbital robot are addressed. First, an observer based on a base-joints dynamics is reviewed and analyzed considering the issues related to a space robotic applicatio
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::cfa4ef8fef14f832b89c53754262f688
http://hdl.handle.net/11311/1158380
http://hdl.handle.net/11311/1158380
Publikováno v:
ACC
In this paper, we investigate the task of approaching a rigid tumbling satellite (Target) with a fully-actuated manipulator-equipped spacecraft (Servicer). We consider a Servicer with an end-effector-mounted exteroceptive sensor for feedback of Targe
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::04377e366936c85614d650731980cbe0
https://doi.org/10.23919/acc45564.2020.9147294
https://doi.org/10.23919/acc45564.2020.9147294
Publikováno v:
Robotics: Science and Systems
We present a numerical method to compute singularity sets in the configuration space of free-floating robots, comparing two different criteria based on formal methods. By exploiting specific properties of free-floating systems and an alternative form