Browsing by Author "Dillikar, Sairaj R."

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    A ROS-based control framework for simulating locomotion of a multi-arm space assembly robot
    (Springer, 2025) Dillikar, Sairaj R.; Leslie, Cameron; Upadhyay, Saurabh; Felicetti, Leonard; Tang, Gilbert
    This paper proposes a ROS-based control framework for simulating the locomotion of a multi-arm space robot on a planar space structure. This framework has applications in technology demonstrations of space structure assembly, construction, and maintenance where a multi-arm robot has to traverse on a space structure building blocks known as Spatial Reticular Structures (SRS) to perform the space operation. The framework sets the desired environment and SRS structures in the first step and devises two movement primitives to achieve locomotion on the structure. A ROS-Gazebo-based simulation architecture is presented to execute the proposed control framework. The viability and limitations of the proposed control framework are discussed with simulation results.
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    A ROS-based simulation and control framework for in-orbit multi-arm robot assembly operations
    (European Space Agency (ESA), 2023-10-20) Bhadani, Saksham; Dillikar, Sairaj R.; Pradhan, Omkar N.; Cotrina de los Mozos, Irene; Felicetti, Leonard; Upadhyay, Saurabh; Tang, Gilbert
    This paper develops a simulation and control framework for a multi-arm robot performing in-orbit assembly. The framework considers the robot locomotion on the assembled structure, the assembly planning, and multi-arm control. An inchworm motion is mimicked using a sequential docking approach to achieve locomotion. An RRT* based approach is implemented to complete the sequential assembly as well as the locomotion of MARIO across the structure. A semi-centralised controller model is used to control the robotic arms for these operations. The architecture uses MoveIt! libraries, Gazebo simulator and Python to simulate the desired locomotion and assembly tasks. The simulation results validate the viability of the developed framework.