Research/ ORBITAL ROBOTICS
Online Inertia Parameter Estimation for Unknown Objects Grasped by a Manipulator Towards Space Applications
Akiyoshi Uchida, Antonine Richard, Kentaro Uno, Miguel Olivares-Mendez, Kazuya Yoshida
Manipulation & GraspingOpenAlex topic: Robot Manipulation and Learning · Microgravity Mobility & Free-FlyersOpenAlex keyword: free-floating robot
arXivcs.ROOpenAlexSpace Satellite Systems and Control · Robot Manipulation and Learning · Dynamics and Control of Mechanical Systems
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target object during manipulation. We apply and extend an existing online identification method by incorporating momentum conservation, enabling its use for the floating-base robots. The proposed method is validated through numerical simulations, and the estimated parameters are compared with ground-truth values. Results demonstrate accurate identification in the scenarios, highlighting the method's applicability to on-orbit servicing and other space missions.
Comments: Author's version of a manuscript accepted at the International Conference on Space Robotics 2025 (iSpaRo 2025). (c) IEEE