Oliver Porges

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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)
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)
The utility of a mobile manipulator largely depends on its kinematic structure and mounting point on the robot body. The reachable workspace of the robot can be obtained offline and modeled as a discretized map called Reachability map. A Capability map is obtained by including some quality measure for the local dexterity of the manipulator, which helps to(More)
This paper presents a robotic capture concept for large spacecraft in low Earth orbit (LEO) that was developed as part of the the e.Deorbit feasibility study within the scope of the clean space initiative of the European Space Agency (ESA). The defective and tumbling satellite ENVISAT has been chosen as potential target to be captured, stabilized, and(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)