Preprint
Sep 2026
PINGU: Extending Air-Bearing Spacecraft Emulators with Open-Source Actuators and Learned Control for Contact-Rich Proximity Operations
Low-cost planar air-bearing testbeds have matured into a standard proxy for free-flying spacecraft GNC, but they remain largely thruster-only and are rarely equipped for contact-rich, inertia-coupled manipulation. Building on the open-source ATMOS testbed, we contribute a reaction wheel and two force/torque-sensed robo...
Ricard M. Castan, Akiyoshi Uchida, Aman Arora et al.
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