Knowledge driven orbit-to-ground teleoperation of a robot coworker

Journal Article (2020)
Author(s)

Peter Schmaus (Deutsches Zentrum für Luft- und Raumfahrt (DLR))

Daniel Leidner (Deutsches Zentrum für Luft- und Raumfahrt (DLR))

Thomas Kruger (European Space Agency (ESA))

Ralph Bayer (Deutsches Zentrum für Luft- und Raumfahrt (DLR))

Benedikt Pleintinger (Deutsches Zentrum für Luft- und Raumfahrt (DLR))

Andre Schiele (TU Delft - Biomechatronics & Human-Machine Control)

Neal Y. Lii (Deutsches Zentrum für Luft- und Raumfahrt (DLR))

Research Group
Biomechatronics & Human-Machine Control
DOI related publication
https://doi.org/10.1109/LRA.2019.2948128
More Info
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Publication Year
2020
Language
English
Research Group
Biomechatronics & Human-Machine Control
Issue number
1
Volume number
5
Pages (from-to)
143-150

Abstract

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.

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