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Institut für Robotik und Mechatronik: Roberto Lampariello

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Roberto Lampariello

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Autonomie und Teleoperation
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-2441
E-Mail: Roberto Lampariello

 


Fields of Interest:

  • Orbital Robotics
  • Robot Motion Planning
  • Multibody Dynamics
  • Applied Nonlinear Control
  • Active Debris Removal

 


News:

 


Principal Projects:

  • 2015-16: e.deorbit phase B1 (ESA) for the post-life disposal of ESA’s environmental satellite ENVISAT by means of a free-flying robot.

  

Fig.: ENVISAT satellite

  • 2008-2014: DEOS - Deutsche Orbitale Servicing Mission (DLR) - 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: (left) a robot mounted on a chaser satellite grasping a non-cooperative tumbling satellite; (right) experimental setup OOS-SIM at DLR

  • 2011-2014: FORROST - Robotische On-Orbit-Servicing Technologien (Bayerische Forschungsstiftung) - development of robotic on-orbit technologies. See Lampariello et al, 2015 below.
  • 2003- 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.
  • 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.
  • 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.

 


Teaching:

SS16: On-orbit Dynamics and Robotics, TU Munich. See also ESPACE: Earth Oriented Space Science and Technology international Master program.

SS15: On-orbit Dynamics and Robotics, TU Munich.

SS14: On-orbit Dynamics and Robotics, TU Munich.

SS13: On-orbit Dynamics and Robotics, TU Munich.

SS12: On-orbit Dynamics and Robotics, TU Munich.

 


Publications:

 Conference Papers:

  • Stoneman, S., Lampariello, R., "A Nonlinear Optimization Method to Provide Real-Time Feasible Reference Trajectories to Approach a Tumbling Target Satellite", International symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), Beijing, P. R. China, June 2016.
  • Jordi Artigas, Ribin Balachandran, Marco De Stefano, Michael Panzirsch, Jan Harder, Juergen Letschnik, Roberto Lampariello, Alin Albu-Schaeffer, “Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite”, IEEE Aerospace Conference, Big Sky, Montana, USA, March 2016.
  • Werner, A., Trautmann, D., Lee, D. Lampariello, R., “Generalization of Optimal Motion Trajectories for Bipedal Walking”, IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 (IROS 15), Hamburg, Germany, Sept. 28-Oct. 2 2015.
  • Jordi Artigas, Marco De Stefano, Wolfgang Rackl, Roberto Lampariello, Bernhard Brunner,
    Wieland Bertleff, Robert Burger, Oliver Porges, Alessandro Giordano, Christoph Borst, Alin Albu-Schaeffer,
    "The OOS-SIM: An On-ground Simulation Facility For On-Orbit Servicing Robotic Operations", IEEE International Conference on Robotics and Automation 2015 (ICRA 2015) Seattle, USA, May 2015.
  • Marco De Stefano, Jordi Artigas, Alessandro Giordano, Roberto Lampariello, and Alin Albu-Schaeffer, "On-Ground Experimental Verification of a Torque Controlled Free-floating Robot", ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2015), ESTEC, Noordwijk, NL, May 2015.
  • Steffen Jaekel, Roberto Lampariello, Giorgio Panin, Mikel Sagardia, Bernhard Brunner, Oliver Porges, and Erich Kraemer, Matthias Wieser, Richard Haarmann, and Markus Pietras, Robin Biesbroek, "Robotic Capture and De-Orbiting of a Heavy, Uncoopertive and Tumbling Target Satellite in Low Earth Orbit", ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2015), ESTEC, Noordwijk, NL, May 2015.
  • Lampariello, R., J. Artigas, N. W. Oumer, W. Rackl, G. Panin, R. Purschke, J. Harder, U. Walter, J. Frickel, I. Masic, K. Ravandoor, J. Scharnagl, K. Schilling, K. Landzettel, G. Hirzinger,“FORROST: Advances in On-Orbit Robotic Technologies”, IEEE Aerospace Conference, Big Sky, Montana, USA, March 2015.
  • Werner, A., Lampariello, R., Ott, C., “Trajectory Optimization for Walking Robots with Series Elastic Actuators”, IEEE 53rd Annual Conference on Decision and Control (CDC), Los Angeles, California, USA, December 2014.
  • Stoneman, S., Lampariello, R., “Embedding Nonlinear Optimization in RRT* for Optimal Kinodynamic Planning”, IEEE 53rd Annual Conference on Decision and Control (CDC), Los Angeles, California, USA, December 2014.
  • Rackl, W. and Lampariello, R., "Parameter Identification of Free-Floating Robots with Flexible Appendages and Fuel Sloshing", 6th International Conference on Modelling,  Identification and Control, Melbourne, Australia, 3-5 December 2014.
  • Hirano, D., Fujii, Y., Abiko, S., Lampariello, R., Nagaoka, K., Yoshida, K., "Simultaneous Control for End-Point Motion and Vibration Suppression of a Space Robot Based on Simple Dynamic Model", IEEE International Conference on Robotics and Automation 2014 (ICRA 2014), Hong Kong, China, June 2014.
  • Lampariello, R., Hirzinger, G., "Generating Feasible Trajectories for Autonomous On-Orbit Grasping of Spinning Debris in a Useful Time", IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 (IROS 13), Tokyo, Japan, November 2013.
  • Hirano, D., Fujii, Y., Abiko, S., Lampariello, R., Nagaoka, K., Yoshida, K., "Vibration Suppression Control of a Space Robot with Flexible Appendages Based on Simple Dynamic Model", IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 (IROS 13), Tokyo, Japan, November 2013.
  • Lampariello, R., "On Grasping a Tumbling Debris Object with a Free-Flying Robot (invited paper)", 19th IFAC Symposium on Automatic Control in Aerospace, Wurzburg, Germany, September 2013.
  • Rackl, W., Lampariello, R., "Parameter Identification Methods for Free-Floating Space Robots with Direct Torque Sensing", 19th IFAC Symposium on Automatic Control in Aerospace, Wurzburg, Germany, September 2013.
  • Gahbler, P., Lampariello, R., Sommer, J., "Analysis of a Deorbiting Maneuver of a Large Target Satellite Using a Chaser Satellite with a Robot Arm", ASTRA 2013, ESTEC, Holland, May 2013.
  • Werner, A., Lampariello, R., Ott, C., "Optimization-based generation and experimental validation of optimal walking trajectories for biped robots", IEEE/RSJ International Conference on Intelligent Robots and Systems 2012 (IROS 12), Vilamoura, Algarve, Portugal, October 2012.
  • Zebenay, M., Lampariello, R., Boge, T. and Choukroun D., "A new contact dynamics model tool for hardware-in-the-loop docking simulation", 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012), Turin, Italy, 2012.
  • Rackl, W. , Lampariello, R., Hirzinger, G., "Robot Excitation Trajectories for Dynamic Parameter Estimation using Optimized B-Splines", International Conference on Robotics and Automation 2012 (ICRA 2012), St. Paul, Minnesota, 2012.
  • 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.

Videos:

  • Haddadin, S., Huber, F., Krieger, K., Weitschat, R., Albu-Schäffer, A., Wolf, S., Friedl, W., Grebenstein, M., Petit, F., Reinecke, J., Lampariello, R., "Intrinsically Elastic Robots: The Key to Human Like Performance", Best IROS Video Award, IROS 2012.

 Books:

  • Yoshida, K., Wilcox, B. H., Hirzinger, G., Lampariello, R., Springer Handbook of Robotics, Chapter “Space Robotics”, 2nd edition, 2016.

 


Workshops, Symposia:

  • Clean Space Industrial Days, ESTEC, Holland, May 2016.
  • Space Robotics Symposium: Present and Future Robotics in Space Application, Technology & Innovation Centre, University of Strathclyde, Glasgow, United Kingdom, 29th-30th October 2015.
  • Workshop: The Next Generation of Space Robotic Servicing Technologies, International Conference on Robotics and Automation (ICRA 2015), Seattle, Washington, USA, May 2015.
  • R&T Days on Space Robotics & Automation, AIRBUS DS Space Systems, Berlin, November 2014.
  • Common CoTeSys-CREATE Workshop, TUM, Garching (D), 5th October 2012.
  • Cleanspace Workshop on Active Debris Removal, ESOC, September 2012.
  • 2nd European Workshop on Active Debris Removal, CNES HQ, Paris (F), June 2012.
  • Workshop: Robotic Satellite Servicing, International Conference on Robotics and Automation (ICRA 2012), St. Paul, Minnesota, May 2012.
  • 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 (co-organizer), International Conference on Robotics and Automation (ICRA'07), Rome, Italy, 10th 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

 

Last updated on 8th July 2016

 

 

Zuletzt aktualisiert: Freitag, 31. März 2017 von Roberto Lampariello