Deformable Cargo Transport in Microgravity with Astrobee
Fuente:
arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866918007359406080 |
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| author | Morton, Daniel Antonova, Rika Coltin, Brian Pavone, Marco Bohg, Jeannette |
| author_facet | Morton, Daniel Antonova, Rika Coltin, Brian Pavone, Marco Bohg, Jeannette |
| contents | We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminary success from a sampling-based MPC controller, using reduced-order models of NASA's cargo transfer bag (CTB) to control a high-order deformable finite element model. Our code is open-source, fully documented, and available at https://danielpmorton.github.io/pyastrobee |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_01630 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Deformable Cargo Transport in Microgravity with Astrobee Morton, Daniel Antonova, Rika Coltin, Brian Pavone, Marco Bohg, Jeannette Robotics We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminary success from a sampling-based MPC controller, using reduced-order models of NASA's cargo transfer bag (CTB) to control a high-order deformable finite element model. Our code is open-source, fully documented, and available at https://danielpmorton.github.io/pyastrobee |
| title | Deformable Cargo Transport in Microgravity with Astrobee |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.01630 |