Motion estimation of unknown rigid body under no external forces and moments

Masutani, Yasuhiro; Iwatsu, Takeshi; Miyazaki, Fumio

doi:10.1109/robot.1994.351227

Cited by 27 publications

(19 citation statements)

References 3 publications

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“…The method was used in the estimation part of a tracking control scheme in [59]. Assuming that an object is not acted upon by any external force and moment, the motion of the target satellite was predicted in [60]. Litcher and Dubowsky, using 3-D vision sensors, proposed an architecture for estimation of dynamic state, geometric shape, and model parameters of an object in orbit, with potential application to a satellite capturing [61].…”

Section: A Target Motion Prediction and Parameter Identificationmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: A Target Motion Prediction and Parameter Identificationmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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“…Ghosh et al [9] use estimation theory to recover the riccati dynamics and shape of planar objects using optical flow. Masutani et al [15] describes an algorithm to extract the inertial parameters of a tumbling rigid body from video. Their system tracks feature points in the images to get instantaneous velocity measurements and uses the Poinsot's solution [22] to compute the inertial parameters.…”

Section: Related Workmentioning

confidence: 99%

“…Using this framework, we show how it is possible to simultaneously compute the object, camera, and environment parameters from video data. Unlike previous analytical methods [15,14], our method does not require any velocity, acceleration, or torque measurements to compute the body state as a function of time. Furthermore, an important element of our estimation approach is that it relies only on easily computable metrics such as image silhouettes and 2D bounding boxes, avoiding the need to compute optical flow or track features on the object over time.…”

Section: Introductionmentioning

confidence: 99%

Computing the Physical Parameters of Rigid-Body Motion from Video

Bhat

Seitz

Popović

2002

Lecture Notes in Computer Science

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Abstract. This paper presents an optimization framework for estimating the motion and underlying physical parameters of a rigid body in free flight from video. The algorithm takes a video clip of a tumbling rigid body of known shape and generates a physical simulation of the object observed in the video clip. This solution is found by optimizing the simulation parameters to best match the motion observed in the video sequence. These simulation parameters include initial positions and velocities, environment parameters like gravity direction and parameters of the camera. A global objective function computes the sum squared difference between the silhouette of the object in simulation and the silhouette obtained from video at each frame. Applications include creating interesting rigid body animations, tracking complex rigid body motions in video and estimating camera parameters from video.

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“…This is in principle possible for a rigid body moving in the absence of forces and torques, even if it does not possess an axis of symmetry which facilitates its motion. However, an explicit solution suitable for numerical implementation seems to be missing in the literature (although partial answers are abundant [9,10,11,12,13,14]). For this reason, we will present the explicit solution here.…”

Section: Introductionmentioning

confidence: 99%

Discontinuous molecular dynamics for semiflexible and rigid bodies

Peña

Zon

Schofield

et al. 2007

The Journal of Chemical Physics

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A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and interaction rules are derived from Lagrangian mechanics in the presence of constraints. This approach is most suitable when the body is composed of relatively few point masses or is semi-flexible. In the second method, the equations of rigid bodies are used to derive explicit analytical expressions for the free evolution of arbitrary rigid molecules and to construct a simple scheme for computing interaction rules. Efficient algorithms for the search for the times of interaction events are designed in this context, and the handling of missed interaction events is discussed.

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Motion estimation of unknown rigid body under no external forces and moments

Cited by 27 publications

References 3 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

Computing the Physical Parameters of Rigid-Body Motion from Video

Discontinuous molecular dynamics for semiflexible and rigid bodies

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