Ashutosh Mishra

Publications

IEEE/RSJ IROS2025

Robust and Modular Multi-Limb Synchronization in Motion Stack for Space Robots with Trajectory Clamping via Hypersphere

Elian Neppel, Ashutosh Mishra, Shamistan Karimov, Kentaro Uno, Shreya Santra, Kazuya Yoshida

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Keeping multiple limbs of a space robot synchronized when any of them may be added, removed or delayed, using hypersphere trajectory clamping to bound the motion each limb is allowed to command.

doi:10.1109/IROS60139.2025.11246735arXiv preprintVideoCode: Motion Stack

MoonBot, the platform behind this paper

Cite this

IEEE

E. Neppel, A. Mishra, S. Karimov, K. Uno, S. Santra, and K. Yoshida, "Robust and Modular Multi-Limb Synchronization in Motion Stack for Space Robots with Trajectory Clamping via Hypersphere," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025. doi: 10.1109/IROS60139.2025.11246735.

BibTeX
@inproceedings{neppel2025robust,
  author    = {Elian Neppel and Ashutosh Mishra and Shamistan Karimov and Kentaro Uno and Shreya Santra and Kazuya Yoshida},
  title     = {{Robust and Modular Multi-Limb Synchronization in Motion Stack for Space Robots with Trajectory Clamping via Hypersphere}},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2025},
  doi       = {10.1109/IROS60139.2025.11246735}
}

Research direction

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