Lab for Space Robotics


Tokyo Institute of Technology
School of Engineering
Department of Mechanical Engineering

Advanced space systems using robot technology


Exploring a new space system that combines robot technology and satellite technology

  • Astronaut support / alternative
  • Orbital service technology (Construction, repair, debris removal)
  • Demonstration of robot technology using small satellite
Research Theme Detail

Latest Information


2021/04/07 Members updated
2021/07/02 Low Contact Force Hand was introduced in the Nikkan Kogyo Shimbun
2021/10/05 Members updated
2022/03/03 Lab information sessions(3/18 13:30~,3/22 16:00~) is now available.
click here to reserve

Previous Research


Master Thesis

Year Name Theme
2021 Kawaguchi Naoki Study on Design of Truss Structure Grasping End-effector with 6-DOF Relative Position Fixation for On-Orbit Service
Hiroyuki Kobayashi Research of the 3-axis attitude control method of Spacecraft by solar radiation pressure using Reflectivity Control Device
Fumitaka Sagawa Asteroid Capturing and Fixing Method with Tether
Nobutaka Fukushima Research of the Redeployable Convex Spring Mechanism for Space Debris Capture
Hashimoto Takuya Research on Space Debris Capture Mechanism Combined Convex Shaped Spring and Exoskeleton Structure
2020 Yuki Nakatsuka Dynamics of Morfable Beam for Space Robots
Teruaki Hayashi Adaptive Twining Mechanism Based on a Thigmotropism for Capturing Non-Cooperative Space Objects
2019 Yutaka Yamazaki Control Method of Contact Force for a Morphable Beam Robot Based on a Deep Learning
Youhei Iwasaki Control Method for Super Multi-Degree-of-Freedom Extendable Robot Arm with Deployment and Shaping Mechanisms on Both Ends
2018 Yuto Masuda Development and Analysis of Debris Capturing System Using Bi-stable Convex Spring
2017 Yusuke Ota Astronaut Support Robot with a Morphable-beam-based Extendable Robot Arm
Keisuke Taga Low Contact Force Gripper for Attaching a Deorbit Device to Space Debris

Bachelor Thesis

Year Name Theme
2021 Akihiro Tokuyasu Study on the Control Method of Weighted Convex Spring for Debris Capture Mechanism
Shohgo Nomura Super Articulated Robot for Space which can be Extended and Shaped by External Force
2020 Masahiro Kubota Estimation of Non-Cooperative Target Motion for Capturing Space Debris
Kenichiro Takahashi Membrane Assembly Type Device for Controlled Deorbit of Space Debris
Yuki Washi Motion Control Method for Space Debris Capture by Free Flying Robots
2019 Naoki Kawaguchi Dynamics Analysis and Design of Low Contact Force Gripper for Attaching Deorbit Device to Space Debris
Hiroyuki Kobayashi Membrane Assemble Space Robot based on a Fastener Mechanism
2018 Yuki Nakatsuka Spherical Helix Inflatable Mechanism for Space Debris Capture
Teruaki Hayashi Controlled Deorbit Method for Space Debris Using Balloon Device

Publication


Journal

  • Development and Analysis of Debris Capturing System Using Bi-Stable Convex Spring
  • Hiroki Nakanishi, Yuto Masuda, Takaya Ozawa
  • TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN, Volume 18, Issue 6, Page 356-362, Nov. 2020

International Conference Presentations

    2022
  • Development of a Truss Structure Grasping End-Effector for On-orbit servicing
  • Naoki Kawaguchi, Hiroki Nakanishi/li>
  • 33rd International symposium on Space Technology and Science (ISTS2022), Feb 2022
    2019
  • Development and analysis of debris capturing system using bi-stable convex spring
  • Hiroki Nakanishi, Yuto Masuda, Takaya Ozawa
  • 32th International symposium on Space Technology and Science (ISTS2019), June 2019
    2018
  • A Study of an Astronaut Support Robot with a Morphable-beam-based Extendable Arm
  • Hiroki Nakanishi, Yusuke Ota, Mitsushige Oda, Saburo Matunaga
  • The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018), June 2018
    2017
  • Development of a Retractable Twine Gripper for Debris-Capture
  • Keisuke Taga, Hiroki Nakanishi, Mitsushige Oda
  • International Symposium on Space Technology and Science, June 2017

Domestic Conference Presentations

    2022
  • Study on the Design of Truss Grasping End-effector with 6-DOF Relative Position Fixation
  • Naoki Kawaguchi, Hiroki Nakanishi
  • 65th Space Science and Technology Conference, Dec. 2021

  • A Basic Study of Adaptive Twining Mechanism Based on Thigmotropism of tendril for Capturing Non-Cooperative Target
  • Teruaki Hayashi, Hiroki Nakanishi
  • 65th Space Science and Technology Conference, Dec. 2021

    2021
  • A Study of Target Capture Device for Active Debris Removal
  • Hiroki Nakanishi, Naoki Kawaguchi, Teruaki Hayashi, Yuto Masuda, Keisuke Taga
  • 9th Space Debris Workshop, Feb. 2021

  • A study on Dynamics Model of Morphable Beam for Space Robot
  • Yuki Nakatsuka,Hiroki Nakanishi
  • Conference on Robotics and Mechatronics 2021, June 2021

  • Research on the design and operation of end effectors for capturing space structures with truss structures
  • Naoki Kawaguchi, Yuki Washi, Hiroki Nakanishi
  • Conference on Robotics and Mechatronics 2021, June 2021

    2020
  • Study on design of low contact force gripping hand for deorbit attachment
  • Naoki Kawaguchi, Hiroki Nakanishi, Daichi Hirano
  • 64th Space Science and Technology Conference, Oct. 2020

  • Study on contact-sensitive adaptive winding device
  • Teruaki Hayashi, Hiroki Nakanishi
  • 64th Space Science and Technology Conference, Oct. 2020

  • A study of Morphable Beam Legs for Minor Body Exploration
  • Yuki Nakatsuka, Hiroki Nakanishi
  • Conference on Robotics and Mechatronics 2020, May 2020
    2019
  • Study on controlled deorbit method for space debris using atmospheric drag
  • Teruaki Hayashi, Hiroki Nakanishi
  • 63rd Space Science and Technology Conference, Nov. 2019

  • Investigation of spherical helix inflatable mechanism for capture of space debris
  • Yuki Nakatsuka, Hiroki Nakanishi
  • Conference on Robotics and Mechatronics 2019, pp. 2P1-U04(1) - 2P1-U04(3), June 2019

  • A Study of Extendable Super-Multi DOF Robot Arm with Deployment and Shaping System
  • Youhei Iwasaki, Hiroki Nakanishi
  • Conference on Robotics and Mechatronics 2019, pp. 2P1-U05(1) - 2P1-U05(3), June 2019

  • Dynamics analysis of a convex spring for space debris capture mechanism
  • Yuto Masuda, Hiroki Nakanishi
  • Conference on Robotics and Mechatronics 2019, pp. 2P1-U06(1) - 2P1-U06(4), June 2019

  • Development of Space Debris Gripper Mechanism using link singularity and Spring
  • Keisuke Taga, Hiroki Nakanishi, Daichi Hirano,
  • Conference on Robotics and Mechatronics 2019, pp. 2P1-U03(1) - 2P1-U03(4), June 2019
    2018
  • Study on the capture mechanism for space debris using the dyamics characteristics of convex springs
  • Yuto Masuda, Hiroki Nakanishi
  • 62nd Space Science and Technology Conference, Oct. 2018

  • A Study of Gripper System for Attaching Debris De-orbit Devices
  • Hiroki Nakanishi
  • 8th Space Debris Workshop, Dec. 2018

Member


Professor/Staff

Doctor

  • Takaomi Chubachi

M2

  • Naoki Kawaguchi
  • Hiroyuki Kobayashi
  • Fumitaka Sagawa
  • Takuya Hashimoto
  • Nobutaka Fukushima

M1

  • Misato Ishiwata
  • Masahiro Kubota
  • Kenichiro Takahashi
  • Yuki Washi

Undergraduate

     
  • Akihiro Tokuyasu
  • Shogo Nomura

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