Legged Mobility in Microgravity
Multi-legged robots may be able to move safely and precisely in microgravity, which is necessary for asteroid exploration and help in space stations.
The development of grasping mechanisms, robot architecture, and mobility strategies specifically for microgravity environments could improve the safety and accuracy of the motion, avoiding failures due to flotation.
This project focuses on managing the momentum generated by the robot's movements, decreasing the induced motion reactions.
Last update: 2023-Oct-20
Related Publications
International Conference
RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity
Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Kazuya Yoshida
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom. 2023.
DOI: 10.1109/ICRA48891.2023.10161185
[arXiv]
Award: IEEE Robotics and Automation Society Japan Joint Chapter Young Award (ICRA2023)
Finalist for ICRA 2023 Outstanding Locomotion Paper
International Conference
Mobility Strategy of Multi-Limbed Climbing Robots for Asteroid Exploration
Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Baris Can Yalcin, Matteo El Hariry, Miguel A. Olivares-Mendez, Kazuya Yoshida
Proceedings of the 26th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Florianopolis, Brazil. 2023.
DOI: (to be added after publication)
[arXiv]
Award: Industrial Robot Practical Innovation Highly Commended Paper
International Conference
Experimental Verification of Robotic Landing and Locomotion on Asteroids
Baris Can Yalcin, Warley F. R. Ribeiro, Matteo El Hariry, Kentaro Uno, Miguel Olivares-Mendez, Kazuya Yoshida
Proceedings of the 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Leiden, The Netherlands. 2023.
Domestic Conference
The Simulated Micro-Gravity Experiment of the Intra-Vehicular Legged Mobile Robot for ISS Automation (ISS 船内伝い歩き移動ロボットの微小重力模擬移動実験)
Takada Kazuki, Kentaro Uno, Koki Murase, Taku Okawara, Masazumi Imai, Warley F. R. Ribeiro, Seiko Piotr Yamaguchi, Riichi Itakura, Akiko Otsuka, Tetsuya Inagaki, Masaru Wada, Kazuya Yoshida
The Robotics and Mechatronics Conference (Robomech), 1A2-B27. Nagoya, Japan. 2023.
International Conference
Low-reaction trajectory generation for a legged robot in microgravity
Warley F. R. Ribeiro, Kentaro Uno, Kazuya Yoshida
Proceedings of the IEEE/SICE International Symposium on System Integration (SII), Narvik, Norway. 2022.
Domestic Conference
Masazumi Imai, Kentaro Uno, Warley F. R. Ribeiro, Seiko Piotr Yamaguchi, Riichi Itakura, Masaru Wada, Kazuya Yoshida
Proceedings of JSME Annual Conference on Robotics and Mechatronics (Robomec), 1P1-H06. Sapporo, Japan. 2022.
Journal
Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida
Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, 19(5), p. 794-801. 2021.
DOI: 10.2322/tastj.19.794
International Conference
Analysis of motion control for a quadruped ground-gripping robot for minor body exploration
Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida
Proceedings of the 32nd International Symposium on Space Technology and Science (ISTS), Fukui, Japan. 2019.
Journal
Analysis on motion control based on reaction null space for ground grip robot on an asteroid
Yudai Yuguchi, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida
Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, 14, Pk 125-Pk 130. 2016.
International Conference
Yudai Yuguchi, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA. 2015.