IROS

Robust and Modular Multi-Limb Synchronization in Motion Stack for Space Robots with Trajectory Clamping via Hypersphere

在空间机器人运动堆栈中通过超球体实现鲁棒且模块化的多肢体同步

Elian Neppel, Ashutosh Mishra, Shamistan Karimov, Kentaro Uno, Shreya Santra, Kazuya Yoshida

机构 * Space Robotics Lab. (SRL) in Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University（太空机器人实验室（SRL）位于东京东京大学工学研究生院航空航天工程系） 纠错

AI总结 本研究提出了一种通过超球体约束实现鲁棒多肢体同步的方法，适用于空间机器人运动堆栈的模块化协调。

Comments 6 pages, 15 figures. Accepted at IROS 2025 | Video: https://youtu.be/hr_kUrbqnFg | Open source project: http://motion-stack.deditoolbox.fr | Code: https://github.com/2lian/Motion-Stack

Journal ref 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pages 3767-3772