期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 5, 期 1, 页码 143-150出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2948128
关键词
Space Robotics andAutomation; Telerobotics and Teleoperation; Robotics in Hazardous Fields
类别
资金
- German Space Operations Center (GSOC)
- Columbus Control Centre (Col-CC)
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 crewhabitats, 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 robotRollin' 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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