On Orbit Manipulation

On Orbit Manipulation aimed at using robot arms for peforming MEV docking on the client side in geostationary orbit. The project was sponsored by Northrop Grumman USA and was lead by Dr. Beau Pollard and Prof Howie Choset.

I worked on Hardware in Loop Validation control for peg insertion using Universal Robot arms. I also worked on contact force estimation and impedance control.