TY - JOUR
T1 - Knowledge driven orbit-to-ground teleoperation of a robot coworker
AU - Schmaus, Peter
AU - Leidner, Daniel
AU - Kruger, Thomas
AU - Bayer, Ralph
AU - Pleintinger, Benedikt
AU - Schiele, Andre
AU - Lii, Neal Y.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
KW - Robotics in Hazardous Fields
KW - Space Robotics and Automation
KW - Telerobotics and Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=85075612856&partnerID=8YFLogxK
U2 - 10.1109/LRA.2019.2948128
DO - 10.1109/LRA.2019.2948128
M3 - Article
AN - SCOPUS:85075612856
SN - 2377-3766
VL - 5
SP - 143
EP - 150
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 1
ER -