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arxiv: 2505.01630 · v1 · pith:CZS4UYBU · submitted 2025-05-02 · cs.RO

Deformable Cargo Transport in Microgravity with Astrobee

Daniel Morton , Rika Antonova , Brian Coltin , Marco Pavone , Jeannette Bohg This is my paper

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classification cs.RO
keywords cargoastrobeecontroldeformablepyastrobeetransportavailablecode
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We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminary success from a sampling-based MPC controller, using reduced-order models of NASA's cargo transfer bag (CTB) to control a high-order deformable finite element model. Our code is open-source, fully documented, and available at https://danielpmorton.github.io/pyastrobee

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Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score.

  1. A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation

    cs.RO 2026-05 unverdicted novelty 4.0

    DexCoHand, a dexterous compliant gripper with soft hydraulic actuation, is integrated with Astrobee and shown in MuJoCo simulation to preserve pan/tilt motions while reducing unintended base disturbances compared to t...