Research topics relative to free-flying robots:

• Motion planning
• Modeling
• Parameter identification
• Grasping of a non-cooperative tumbling target

General Interests:

• Robot Motion Planning
• Multibody Dynamics
• Applied Nonlinear Control

Projects:

• 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:

• 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

Reports:

• F. Cusumano, R. Lampariello, Analysis of the Inverse Kinematics of a Free-Floating Robot for the Grasping of a Tumbling Target in Tele-operation, DLR-IB, 515-04-02, 2004
• R. Lampariello, K. Deutrich, Simplified path planning for free-floating robots, DLR Report 515-99-04, Oberpfaffenhofen, 1999.

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