Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators

Wenya Wan; Chong Sun; Jianping Yuan; Xianghao Hou; Yufei Guo; Yinong Ou-yang; Qixin Li; Liran Zhao; Hao Shi; Dawei Han

doi:10.1007/978-3-030-27526-6_39

Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators

Wenya Wan, Chong Sun, Jianping Yuan, Xianghao Hou, Yufei Guo, Yinong Ou-yang, Qixin Li, Liran Zhao, Hao Shi, Dawei Han

School of Astronautics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Space debris generally has unknown motion information, which brings great challenge for space debris capture and removal. In this paper, we propose an adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. Firstly, the dynamic model of the tumbling target is derived and its motion characteristics are analyzed. Secondly, a complementary grasping strategy is proposed for tumbling space debris capture, in which two coordinated hyper-redundant manipulators are utilized to wrap around the space debris together. The grasping strategy includes two steps (1) determining the twining curve for each hyper-redundant manipulator and (2) searching algorithm for feasible grasping configuration that could match with the twining curve. Specifically, the second step involves the capture occasion determination and the pre-planning technique. The main advantages of the proposed method lie in its grasping efficiency and adaptivity to grasped objects. Finally, two examples to verify the effectiveness of the proposed method are presented.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
Editors	Haibin Yu, Jinguo Liu, Lianqing Liu, Yuwang Liu, Zhaojie Ju, Dalin Zhou
Publisher	Springer Verlag
Pages	450-461
Number of pages	12
ISBN (Print)	9783030275259
DOIs	https://doi.org/10.1007/978-3-030-27526-6_39
State	Published - 2019
Event	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 - Shenyang, China Duration: 8 Aug 2019 → 11 Aug 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11740 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Country/Territory	China
City	Shenyang
Period	8/08/19 → 11/08/19

Keywords

Complementary grasping strategy
Coordinated hyper-redundant manipulators
Space debris capture
Twining curve

Access to Document

10.1007/978-3-030-27526-6_39

Cite this

Wan, W., Sun, C., Yuan, J., Hou, X., Guo, Y., Ou-yang, Y., Li, Q., Zhao, L., Shi, H., & Han, D. (2019). Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. In H. Yu, J. Liu, L. Liu, Y. Liu, Z. Ju, & D. Zhou (Eds.), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings (pp. 450-461). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11740 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-27526-6_39

Wan, Wenya ; Sun, Chong ; Yuan, Jianping et al. / Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. editor / Haibin Yu ; Jinguo Liu ; Lianqing Liu ; Yuwang Liu ; Zhaojie Ju ; Dalin Zhou. Springer Verlag, 2019. pp. 450-461 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{0f919f43aaee4fb8a1cf4f50720f8c72,

title = "Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators",

abstract = "Space debris generally has unknown motion information, which brings great challenge for space debris capture and removal. In this paper, we propose an adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. Firstly, the dynamic model of the tumbling target is derived and its motion characteristics are analyzed. Secondly, a complementary grasping strategy is proposed for tumbling space debris capture, in which two coordinated hyper-redundant manipulators are utilized to wrap around the space debris together. The grasping strategy includes two steps (1) determining the twining curve for each hyper-redundant manipulator and (2) searching algorithm for feasible grasping configuration that could match with the twining curve. Specifically, the second step involves the capture occasion determination and the pre-planning technique. The main advantages of the proposed method lie in its grasping efficiency and adaptivity to grasped objects. Finally, two examples to verify the effectiveness of the proposed method are presented.",

keywords = "Complementary grasping strategy, Coordinated hyper-redundant manipulators, Space debris capture, Twining curve",

author = "Wenya Wan and Chong Sun and Jianping Yuan and Xianghao Hou and Yufei Guo and Yinong Ou-yang and Qixin Li and Liran Zhao and Hao Shi and Dawei Han",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",

year = "2019",

doi = "10.1007/978-3-030-27526-6_39",

language = "英语",

isbn = "9783030275259",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "450--461",

editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",

booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",

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Wan, W, Sun, C, Yuan, J, Hou, X, Guo, Y, Ou-yang, Y, Li, Q, Zhao, L, Shi, H & Han, D 2019, Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. in H Yu, J Liu, L Liu, Y Liu, Z Ju & D Zhou (eds), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11740 LNAI, Springer Verlag, pp. 450-461, 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, Shenyang, China, 8/08/19. https://doi.org/10.1007/978-3-030-27526-6_39

Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. / Wan, Wenya; Sun, Chong; Yuan, Jianping et al.
Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. ed. / Haibin Yu; Jinguo Liu; Lianqing Liu; Yuwang Liu; Zhaojie Ju; Dalin Zhou. Springer Verlag, 2019. p. 450-461 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11740 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators

AU - Wan, Wenya

AU - Sun, Chong

AU - Yuan, Jianping

AU - Hou, Xianghao

AU - Guo, Yufei

AU - Ou-yang, Yinong

AU - Li, Qixin

AU - Zhao, Liran

AU - Shi, Hao

AU - Han, Dawei

PY - 2019

Y1 - 2019

N2 - Space debris generally has unknown motion information, which brings great challenge for space debris capture and removal. In this paper, we propose an adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. Firstly, the dynamic model of the tumbling target is derived and its motion characteristics are analyzed. Secondly, a complementary grasping strategy is proposed for tumbling space debris capture, in which two coordinated hyper-redundant manipulators are utilized to wrap around the space debris together. The grasping strategy includes two steps (1) determining the twining curve for each hyper-redundant manipulator and (2) searching algorithm for feasible grasping configuration that could match with the twining curve. Specifically, the second step involves the capture occasion determination and the pre-planning technique. The main advantages of the proposed method lie in its grasping efficiency and adaptivity to grasped objects. Finally, two examples to verify the effectiveness of the proposed method are presented.

AB - Space debris generally has unknown motion information, which brings great challenge for space debris capture and removal. In this paper, we propose an adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. Firstly, the dynamic model of the tumbling target is derived and its motion characteristics are analyzed. Secondly, a complementary grasping strategy is proposed for tumbling space debris capture, in which two coordinated hyper-redundant manipulators are utilized to wrap around the space debris together. The grasping strategy includes two steps (1) determining the twining curve for each hyper-redundant manipulator and (2) searching algorithm for feasible grasping configuration that could match with the twining curve. Specifically, the second step involves the capture occasion determination and the pre-planning technique. The main advantages of the proposed method lie in its grasping efficiency and adaptivity to grasped objects. Finally, two examples to verify the effectiveness of the proposed method are presented.

KW - Complementary grasping strategy

KW - Coordinated hyper-redundant manipulators

KW - Space debris capture

KW - Twining curve

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U2 - 10.1007/978-3-030-27526-6_39

DO - 10.1007/978-3-030-27526-6_39

M3 - 会议稿件

AN - SCOPUS:85070610543

SN - 9783030275259

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 450

EP - 461

BT - Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings

A2 - Yu, Haibin

A2 - Liu, Jinguo

A2 - Liu, Lianqing

A2 - Liu, Yuwang

A2 - Ju, Zhaojie

A2 - Zhou, Dalin

PB - Springer Verlag

T2 - 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019

Y2 - 8 August 2019 through 11 August 2019

ER -

Wan W, Sun C, Yuan J, Hou X, Guo Y, Ou-yang Y et al. Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators. In Yu H, Liu J, Liu L, Liu Y, Ju Z, Zhou D, editors, Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Springer Verlag. 2019. p. 450-461. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-27526-6_39

Adaptive whole-arm grasping approach of tumbling space debris by two coordinated hyper-redundant manipulators

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Keywords

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