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

Peter Schmaus, Daniel Leidner, Thomas Kruger, Ralph Bayer, Benedikt Pleintinger, Andre Schiele, Neal Y. Lii

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)

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.

Original languageEnglish
Pages (from-to)143-150
JournalIEEE Robotics and Automation Letters
Volume5
Issue number1
DOIs
Publication statusPublished - 2020

Keywords

  • Robotics in Hazardous Fields
  • Space Robotics and Automation
  • Telerobotics and Teleoperation

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    Schmaus, P., Leidner, D., Kruger, T., Bayer, R., Pleintinger, B., Schiele, A., & Lii, N. Y. (2020). Knowledge driven orbit-to-ground teleoperation of a robot coworker. IEEE Robotics and Automation Letters, 5(1), 143-150. https://doi.org/10.1109/LRA.2019.2948128