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2016 On Inertia and Stiffness Effects During Impact Docking

Space debris removal and mitigation using space robots are complex missions, which require extensive analysis prior to launch. An important aspect during such a mission is the capturing task; any unsuccessful attempt may create more problems than …

2016 Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

On-orbit servicing missions will rely on space robots; however their complexity requires prior careful studies. Among these, robotic docking is especially challenging. In this work, the robotic impact docking between two space systems is considered. …

2017 Impedance control design for on-orbit docking using an analytical and experimental approach

An important phase in On-Orbit servicing missions is robotic docking. Successful docking is subject to a number of parameters and conditions. In this work, the robotic impact docking between two space systems is considered. The docking of a robotic …

2018 Mechanics Modelling of Eccentrically Arranged Concentric Tubes

Continuum robots allow accessing surgical targets deepinside the human body by steering along 3D curves inconfined spaces. Further, they provide enhanced dex-terity compared to traditional instruments [1]. Concen-tric Tube Robots (CTRs) are …

2018 On Impedance Control For Landing Mechanisms On Comets And Planets

Recent successes of missions, such as the Rosetta, have increased the interest in the robotic exploration of other planets and asteroids. Although, in most landers passive landing systems are used, bouncing due to inappropriate descent speed and …

2018 Towards Modelling Multi-Arm Robots: Eccentric Arrangement of Concentric Tubes

This article presents a model predictive controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs). State-of-the-art CTR control relies on differential kinematics developed by local linearization of the CTRs mechanics …

2019 Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability

Concentric tube robots (CTR) can traverse tightly curved paths and offer dexterity in constrained environments, making them advantageous for minimally invasive surgical scenarios that experience strict anatomical and surgical constraints. Their shape …

2019 Towards a flexible multi-arm robot for interventions within the eye orbit

While continuum robots have been studied for a variety of surgical applications (e.g., heart, lung, brain, eye, kidney), no existing robotic system can be applied to deep orbital interventions. This work for the first time aims to develop a robotic …