A Deployable Four-Finger Payload for Teleoperated Free-Flying Manipulation with Astrobee

arXiv:2609.25614 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Comments: 4 pages, 3 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Calibration — 3× in this paper · explained in 7 episodes
• ISS Cargo Transfer Bag — 2× in this paper
• MuJoCo-based International Space Station — 1× in this paper
• Redundancy — 1× in this paper · explained in 2 episodes

Sources

• A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation
• A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation
• Deformable Cargo Transport in Microgravity with Astrobee

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies