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Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Schmaus, Peter and Leidner, Daniel and Krüger, Thomas and Bayer, Ralph and Pleintinger, Benedikt and Schiele, André and Lii, Neal Y. (2019) Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker. IEEE Robotics and Automation Letters, 5 (1), pp. 143-150. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2019.2948128. ISSN 2377-3766.

[img] PDF - Preprint version (submitted draft)

Official URL: https://ieeexplore.ieee.org/document/8873599


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 preliminary insights on the practicability and intuitiveness of our 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.

Item URL in elib:https://elib.dlr.de/130830/
Document Type:Article
Title:Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schmaus, Peterpeter.schmaus (at) dlr.dehttps://orcid.org/0000-0002-6639-0967
Leidner, Danieldaniel.leidner (at) dlr.dehttps://orcid.org/0000-0001-5091-7122
Krüger, Thomasthomas.krueger (at) esa.intUNSPECIFIED
Bayer, RalphRalph.Bayer (at) dlr.dehttps://orcid.org/0000-0003-2561-7974
Pleintinger, Benediktbenedikt.pleintinger (at) dlr.deUNSPECIFIED
Schiele, Andréandre.schiele (at) esa.intUNSPECIFIED
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Date:17 October 2019
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2019.2948128
Page Range:pp. 143-150
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE Robotics and Automation Letters
Keywords:Task analysis, Space vehicles, Telerobotics, Planetary robotics, Space Robotics and Automation, Telerobotics and Teleoperation, Robotics in Hazardous Fields
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Birkenkampf, Peter
Deposited On:22 Nov 2019 08:52
Last Modified:14 Dec 2019 04:23

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