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About

David S. Carabis is a roboticist focused on advancing the capabilities of space manipulators, particularly for handling massive, uncooperative objects. His research centers on the critical challenges of dual-arm manipulation, flexible-joint dynamics, and grasp stability in zero-gravity environments. Carabis’s most influential work, "Collaborative manipulation with multiple dual-arm robots under human guidance" (23 citations), addresses the complex coordination required when human operators and multiple robotic arms work together to handle large payloads. He has made significant contributions to trajectory generation for flexible-joint space manipulators (17 citations), where he tackles the dual problems of structural flexibility and limited motor torque—key limitations for future satellite servicing and orbital assembly missions. His work on "Manipulation of Massive Objects in Space Using Flexible Joint Manipulators" (10 citations) directly confronts the challenge of transporting objects far beyond a robot’s 1-g capability, a scenario common in debris removal. Additionally, his research on slip avoidance in dual-arm manipulation (7 citations) is vital for preventing catastrophic grasp failure. Carabis’s work is foundational for developing safe, autonomous robotic systems for the next generation of space infrastructure projects.