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Mobile Manipulation for Planetary Exploration

Lehner, Peter and Brunner, Sebastian Georg and Dömel, Andreas and Gmeiner, Heinrich and Riedel, Sebastian and Vodermayer, Bernhard and Wedler, Armin (2018) Mobile Manipulation for Planetary Exploration. In: IEEE Aerospace Conference Proceedings. IEEE. 2018 IEEE Aerospace Conference, 3-10 March 2018, Big Sky, MT, USA. DOI: 10.1109/AERO.2018.8396726 ISBN 978-1-5386-2014-4

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Official URL: https://ieeexplore.ieee.org/document/8396726

Abstract

Robotic systems map unknown terrain and collect scientific relevant data of foreign planets. Currently, pilots from Earth steer these rovers on Moon and Mars surfaces via teleoperation. However, remote control suffers from a high delay of the long distance communication which leads to a reduction of the time the rover can spent gathering scientific data. We propose a system architecture for an autonomous rover for planetary exploration. The architecture is centered around a flexible, scalable world model to record and represent the environment of the robot. An autonomous task control framework and a versatile constraint motion planner use the live information from the world model to steer the rover through complex manipulation tasks. Furthermore, we present the enhancement of our Light Weight Rover Unit (LRU) with an innovative docking interface for arbitrary tool handling. We showcase the effectiveness of our approach at the moon-analogue demonstration mission of the ROBEX project on Mt. Etna, Sicily. We show in two experiments that the robot is capable of autonomously deploying scientific instruments and collecting soil samples from the volcano's surface.

Item URL in elib:https://elib.dlr.de/125139/
Document Type:Conference or Workshop Item (Speech)
Title:Mobile Manipulation for Planetary Exploration
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lehner, PeterPeter.Lehner (at) dlr.dehttps://orcid.org/0000-0002-3755-1186
Brunner, Sebastian GeorgSebastian.Brunner (at) dlr.deUNSPECIFIED
Dömel, Andreasandreas.doemel (at) dlr.deUNSPECIFIED
Gmeiner, HeinrichHeinrich.Gmeiner (at) dlr.deUNSPECIFIED
Riedel, SebastianSebastian.Riedel (at) dlr.dehttps://orcid.org/0000-0002-3655-2486
Vodermayer, BernhardBernhard.Vodermayer (at) dlr.deUNSPECIFIED
Wedler, ArminArmin.Wedler (at) dlr.deUNSPECIFIED
Date:March 2018
Journal or Publication Title:IEEE Aerospace Conference Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/AERO.2018.8396726
Publisher:IEEE
Series Name:IEEE Aerospace Conference
ISBN:978-1-5386-2014-4
Status:Published
Keywords:Task analysis, Payloads, Manipulators, Software, Computer architecture, Planets
Event Title:2018 IEEE Aerospace Conference
Event Location:Big Sky, MT, USA
Event Type:international Conference
Event Dates:3-10 March 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Lehner, Peter
Deposited On:16 Dec 2018 23:37
Last Modified:31 Jul 2019 20:23

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