Zobrazeno 1 - 10
of 665
pro vyhledávání: '"Yoshida, Kazuya"'
Autor:
Candalot, Arthur, Hurrell, James, Hashim, Malik Manel, Hickey, Brigid, Laine, Mickael, Yoshida, Kazuya
Wheeled rovers have been the primary choice for lunar exploration due to their speed and efficiency. However, deeper areas, such as lunar caves and craters, require the mobility of legged robots. To do so, appropriate end effectors must be designed t
Externí odkaz:
http://arxiv.org/abs/2411.07261
Autor:
Candalot, Arthur, Hashim, Malik-Manel, Hickey, Brigid, Laine, Mickael, Hunter-Scullion, Mitch, Yoshida, Kazuya
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a viable alterna
Externí odkaz:
http://arxiv.org/abs/2411.05482
Reaction force-aware control is essential for legged climbing robots to ensure a safer and more stable operation. This becomes particularly crucial when navigating steep terrain or operating in microgravity environments, where excessive reaction forc
Externí odkaz:
http://arxiv.org/abs/2409.13218
Autor:
Kamohara, Junnosuke, Ares, Vinicius, Hurrell, James, Takehana, Keisuke, Richard, Antoine, Santra, Shreya, Uno, Kentaro, Rohmer, Eric, Yoshida, Kazuya
Simulation of vehicle motion in planetary environments is challenging. This is due to the modeling of complex terrain, optical conditions, and terrain-aware vehicle dynamics. One of the critical issues of typical simulators is that they assume terrai
Externí odkaz:
http://arxiv.org/abs/2408.13468
With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the continuous removal of space debris is the most severe problem for hum
Externí odkaz:
http://arxiv.org/abs/2408.01035
Autor:
Okawara, Taku, Koide, Kenji, Oishi, Shuji, Yokozuka, Masashi, Banno, Atsuhiko, Uno, Kentaro, Yoshida, Kazuya
Environments lacking geometric features (e.g., tunnels and long straight corridors) are challenging for LiDAR-based odometry algorithms because LiDAR point clouds degenerate in such environments. For wheeled robots, a wheel kinematic model (i.e., whe
Externí odkaz:
http://arxiv.org/abs/2407.08907
Autor:
Chovet, Loïck Pierre, Garcia, Gabriel Manuel, Bera, Abhishek, Richard, Antoine, Yoshida, Kazuya, Olivares-Mendez, Miguel Angel
Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this progress by
Externí odkaz:
http://arxiv.org/abs/2407.03091
A chaser satellite equipped with robotic arms can capture space debris and manipulate it for use in more advanced missions such as refueling and deorbiting. To facilitate capturing, a caging-based strategy has been proposed to simplify the control sy
Externí odkaz:
http://arxiv.org/abs/2405.00943
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path planning me
Externí odkaz:
http://arxiv.org/abs/2404.18721
Autor:
Okawara, Taku, Koide, Kenji, Oishi, Shuji, Yokozuka, Masashi, Banno, Atsuhiko, Uno, Kentaro, Yoshida, Kazuya
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel odometry algorith
Externí odkaz:
http://arxiv.org/abs/2404.02515