DLR Institute of Robotics and Mechatronics: Roberto Lampariello

Dipl.-Ing., M.Sc. Roberto Lampariello

Contacting Address:
Institute of Robotics and Mechatronics
German Aerospace Center
Muenchner Straße 20
D-82234 Weßling
Germany
Tel.:++49-8153-28-2441
Fax.:++49-8153-28-1134
E-mail: Roberto.Lampariello(at)dlr.de

General Interests:

Free-flying Robots
On-Orbit Robotics
Robot Motion Planning
Multibody Dynamics
Applied Nonlinear Control

Projects:

2008-to date: DEOS - Deutsche Orbitale Servicing Mission- development of the tools for the capture, stabilization and de-orbiting of a non co-operative target by means of a free-flying robot.

Fig.: DEOS scenario: a robot mounted on a chaser satellite grasping a target satellite

2004- 2007: TECSAS - Technology Satellite(s) for demonstration and Verification of Space Systems (DLR/CSA/Babakin) - development of the tools for the capture, stabilization and de-orbiting of a non co-operative target by means of a free-flying robot.

Fig.: TECSAS scenario: a robot mounted on a chaser satellite grasping a target satellite

2004- 2006: Museum Robot (KUKA/DLR) - development of the control for a cable-suspended platform with two robots.

2003: TECSAS - Technology Satellite(s) for demonstration and Verification of Space Systems - Feasibility study (DLR) - study of the capture, stabilization and de-orbiting of a non co-operative target by means of a free-flying robot.

2002: ROGER - Robotic Geostationary Robotic Restorer - Feasibility study (ESA) - study for the de-orbiting of a non co-operative geostationary satellite by means of a tether-net and a tether-gripper satellite system.

2000: ROBONAUT (DLR-RM) - development of a real-time two-arm free-flying robot simulator.

2000: ESS - Experimental Servicing Satellite - Feasibility study (DLR) - satellite orbit transfer mission.

1998-99: GETEX (DLR/NASDA)- German-Japanese Space Telerobotics Experiment: path planning of maneuvers performed with the manipulator on board of the ETS-7 satellite; evaluation of the experimental data for a model update of the ETS-7 free-floating satellite.

Publications:

Conference Papers:

Lampariello, R., Nguyen-Tuong, D., Castellini, C., Hirzinger, G., Peters, J., "Trajectory planning for optimal robot catching in real-time", International Conference on Robotics and Automation 2011 (ICRA 2011), Shanghai, China, May 2011.
Lampariello, R., "Motion Planning for the On-orbit Grasping of a Non-cooperative Target Satellite with Collision Avoidance", 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2010), Sapporo, Japan, 2010.
Abiko, S., Lampariello, R., Hirzinger, G., "A Dynamic Library for Versatile Modeling of Free-Flying and Mobile Robotic Systems", 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), ESA/ESTEC Noordwijk, The Netherlands, November 2008.
R. Lampariello, S. Abiko, G. Hirzinger, Dynamic Modeling of Structure-Varying Kinematic Chains for Free-Flying Robots, International Conference on Robotics and Automation 2008 (ICRA 08), Pasadena, California, May 2008.
S. Abiko, R. Lampariello, G. Hirzinger, Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty, IEEE/RSJ International Conference on Intelligent Robots and Systems 2006 (IROS 06), Beijing, China, October 2006.
R. Lampariello, J. Heindl, R. Koeppe, G. Hirzinger, Reactionless Control for two Manipulators Mounted on a Cable-Suspended Platform, IEEE/RSJ International Conference on Intelligent Robots and Systems 2006 (IROS 06), Beijing, China, October 2006
S. Agrawal, K. Pathak, R. Lampariello, G. Hirzinger, Design of Differentially Flat Open-Chain Robots with Arbitrarily Oriented Joints and Two Momentum Wheels at the Base, International Conference on Robotics and Automation 2006 (ICRA 06), Orlando, Florida, May 2006.
U. Hillenbrand, R. Lampariello, Motion and Parameter Estimation of a Free-Floating Space Object from Range Data for Motion Prediction, 8th International symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2005), Munich, Germany, 5-9 September 2005.
R. Lampariello, G. Hirzinger, Modeling and Experimental Design for the On-Orbit Inertial Parameter Identification of Free-flying Space Robots , ASME 2005 International Design Engineering Technical Conferences & Computers Information in Engineering Conference, Long Beach, California, September 24-28, 2005.
F. Cusumano, R. Lampariello, G. Hirzinger, Development of Tele-operation Control for a Free-floating Robot during the Grasping of a Tumbling Target, International Conference on Intelligent Manipulation and Grasping, Genoa - Italy July 1-2, 2004.
K. Landzettel, B. Brunner, R. Lampariello, K. Preusche, D. Reintsema, G. Hirzinger, System prerequisites and operational modes of on-orbit servicing, ISTS (International Symposium on Space Technology and Science), Miyazaki, Japan, May 30 - June 6, 2004.
R. Lampariello, S. Agrawal, G. Hirzinger, Optimal Motion Planning for Free-Flying Robots, International Conference on Robotics and Automation 2003 (ICRA 03), Taiwan, May 2003.
R. Lampariello, G. Hirzinger, Freeflying robots - Inertial Parameter Identification and Control Strategies, ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2000), ESTEC, Noordwijk, NL, December 2000.
K. Landzettel, B. Brunner, G. Hirzinger, R. Lampariello, G. Schreiber, B.-M. Steinmetz, A Unified Ground Control and Programming Methodology for Space Robotics Applications - Demonstrations on ETS-VII, International Symposium on Robotics (ISR 2000), pp. 422-427, Montreal, Canada, May 2000.
G. Hirzinger, B. Brunner, R. Lampariello, K. Landzettel, J. Schott, B.-M. Steinmetz, Advances in Orbital Robotics (~ 22 MB), IEEE International Conference on Robotics and Automation (ICRA), Vol. 1, pp. 898-907, San Francisco, CA, April 2000.
K. Landzettel, B.Brunner, K. Deutrich, R. Lampariello, G. Schreiber, B. Steinmetz, DLR / NASDA's Joint Robotics Experiments on ETS VII, ETS VII Symposium, Tokyo, Japan, March, 2000.

Journal Papers:

Agrawal, S.K., Pathak, K., Franch, J., Lampariello, R., Hirzinger, G., "A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base", IEEE Transactions on Automatic Control, Volume 54, Issue 9, Sept. 2009, pp. 2185 - 2191.

Links to related Workshops:

Minisymposium on Optimization in Biomechanics and Robotics, 14th Belgian-French-German Conference on Optimization, Leuven, September 14-18, 2009.
Minisymposium on Optimal Control in Robotics and Biomechanics, 13th Czech-French-German Conference on Optimization, Heidelberg, September 17-21, 2007.
Collision-free motion planning for dynamic systems, International Conference on Robotics and Automation (ICRA'07), Rome, Italy, 10^th April 2007.
Motion Planning in Virtual Environments (MOVIE), Toulouse (France), January 2005.
On-orbit servicing of Space Infrastructure Elements via Automation Robotics Technology (OOS), Vancouver (Canada), October 2004
On-orbit servicing of Space Infrastructure Elements via Automation Robotics Technology (OOS), Bonn (Germany), October 2002