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Traditionally, grasp and arm motion planning are considered as separate tasks. This might lead to problems such as limitations in the grasp possibilities, or unnecessary long times in the solution of the planning problem. This thesis presents an integrated approach that only requires the initial configuration of the robotic arm and the pose of the target(More)
On-orbit servicing involves a new class of space missions in which a servicer spacecraft is launched into the orbit of a target spacecraft, the client. The servicer navigates to the client with the intention of manipulating it, using a robotic arm. Within this framework, this work presents a new robotic experimental facility which was recently built at the(More)
Humanoid robots that need to traverse constrained and uncertain environments require a suitable combination of perception, planning and control. This paper presents an integrated pipeline that allows the robot to autonomously acquire visual information, define step locations, compute feasible multi-contact stances using hands and feet, and generate a motion(More)