Robotic manipulation and capture in space: A survey

E Papadopoulos, F Aghili, O Ma… - Frontiers in Robotics and …, 2021 - frontiersin.org
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 …

A review of space robotics technologies for on-orbit servicing

A Flores-Abad, O Ma, K Pham, S Ulrich - Progress in aerospace sciences, 2014 - Elsevier
Abstract Space robotics is considered one of the most promising approaches for on-orbit
servicing (OOS) missions such as docking, berthing, refueling, repairing, upgrading …

The swing up control problem for the acrobot

MW Spong - IEEE control systems magazine, 1995 - ieeexplore.ieee.org
Underactuated mechanical systems are those possessing fewer actuators than degrees of
freedom. Examples of such systems abound, including flexible joint and flexible link robots …

The kinematics, dynamics, and control of free-flying and free-floating space robotic systems

S Dubowsky, E Papadopoulos - IEEE Transactions on robotics …, 1993 - ieeexplore.ieee.org
Some important dynamics and control problems unique to space robotic systems are
discussed. Particular attention is paid to free-flying and free-floating space robots that might …

Partial feedback linearization of underactuated mechanical systems

MW Spong - … of IEEE/RSJ International Conference on …, 1994 - ieeexplore.ieee.org
In this paper we discuss the partial feedback linearization control of underactuated
mechanical systems. We consider an n degree of freedom system having m actuated, or …

Review of on-orbit robotic arm active debris capture removal methods

W Zhang, F Li, J Li, Q Cheng - Aerospace, 2022 - mdpi.com
Space is the driving force of the world's sustainable development, and ensuring the
sustainability of human activity in space is also necessary. Robotic arm active debris capture …

Mobile manipulation: The robotic assistant

O Khatib - Robotics and Autonomous Systems, 1999 - Elsevier
Mobile manipulation capabilities are key to many new applications of robotics in space,
underwater, construction, and service environments. This paper discusses the development …

Free-flying robots in space: an overview of dynamics modeling, planning and control

SAA Moosavian, E Papadopoulos - Robotica, 2007 - cambridge.org
Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-
flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency …

Robots in human environments: Basic autonomous capabilities

O Khatib, K Yokoi, O Brock… - … Journal of Robotics …, 1999 - journals.sagepub.com
This article discusses the basic capabilities needed to enable robots to operate in human-
populated environments for accomplishing both autonomous tasks and human-guided …

Coordination and decentralized cooperation of multiple mobile manipulators

O Khatib, K Yokoi, K Chang, D Ruspini… - Journal of Robotic …, 1996 - Wiley Online Library
Mobile manipulation capabilities are key to many new applications of robotics in space,
underwater, construction, and service environments. This article discusses the ongoing effort …