Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

The crewed exploration of Moon and Mars requires the construction and maintenance of infrastructure on the alien surfaces before a crew arrives. Robotic coworkers are envisioned to take over the physical labor required to set-up crew habitats, energy supplies, and return vehicles in the hazardous en...

Full description

Saved in:
Bibliographic Details
Published in:IEEE robotics and automation letters 2020-01, Vol.5 (1), p.143-150
Main Authors: Schmaus, Peter, Leidner, Daniel, Kruger, Thomas, Bayer, Ralph, Pleintinger, Benedikt, Schiele, Andre, Lii, Neal Y.
Format: Article
Language:English
Subjects:
Astronauts
Autonomy
Deep space
Hazardous areas
Humanoid
International Space Station
Maintenance
Mars
Mars environment
Mars satellites
Multinational space ventures
Performance measurement
Planetary orbits
Robot kinematics
Robotics in Hazardous Fields
Robots
Space Robotics and Automation
Space vehicles
Task analysis
Telerobotics
Telerobotics and Teleoperation
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The crewed exploration of Moon and Mars requires the construction and maintenance of infrastructure on the alien surfaces before a crew arrives. Robotic coworkers are envisioned to take over the physical labor required to set-up crew habitats, energy supplies, and return vehicles in the hazardous environment. Deploying these robots in such a remote location poses a challenge that requires autonomous robot capabilities in combination with effective Human Robot Interfaces (HRIs), which comply with the harsh conditions of deep space operations. An astronaut-robot teleoperation concept targeting these topics has been evaluated in DLR and ESA's METERON SUPVIS Justin experiment where astronauts on-board the International Space Station (ISS) commanded DLR's humanoid robot Rollin' Justin in a simulated Martian environment on Earth. This work extends on our previously presented approach to supervised autonomy. It examines the results of the two follow-up experiment sessions which investigated maintenance and assembly tasks in real-world scenarios. We discuss the use of our system in real space-to-ground deployment and analyze key performance metrics of the HRI and the feedback given by the astronauts.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2019.2948128