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Safe Interactions and Kinesthetic Feedback in High Performance Earth-To-Moon Teleoperation

Panzirsch, Michael and Singh, Harsimran and Krüger, Thomas and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) Safe Interactions and Kinesthetic Feedback in High Performance Earth-To-Moon Teleoperation. In: 2020 IEEE Aerospace Conference, AERO 2020. IEEE Aerospace Conference, 7.-14. März, 2020, Big Sky, USA. ISBN 978-172812734-7. ISSN 1095-323X.

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Abstract

The international space agencies plan to implement orbiting space stations around celestial bodies as moon or Mars in the near future. Autonomous robots will be assigned with exploration tasks and the building of structures as habitats. A teleoperator interface will be available in the orbiter to assure the possibility of direct control of the robots located on the celestial body as a fallback, in case an autonomous functionality fails. Communication links will be comparable to the ones between the International Space Station and earth, reaching from direct S-band communication, to communication via geostationary relay satellites in a Ku-Forward link. Since the planned Gateway orbiting the moon will not be manned throughout the year, further interfaces have to be established with which the robots can be controlled from earth. An available laser link to the moon provides a high-bandwidth communication with 2.6s roundtrip-delay, which currently allows for supervised control, for example via a tablet interface. Current advances in control theory can achieve stable and high performance kinesthetic feedback in bilateral telemanipulation at delays above 1s. This paper presents the first experimental analysis of the feasibility and human operator performance of telemanipulation with an Earth-to-Moon like delay of 3s. In light of the fact that several technologies such as visual augmentation and shared control can be integrated in addition, the results are highly promising.

Item URL in elib:https://elib.dlr.de/135589/
Document Type:Conference or Workshop Item (Speech)
Title:Safe Interactions and Kinesthetic Feedback in High Performance Earth-To-Moon Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Singh, Harsimranharsimran.singh (at) dlr.deUNSPECIFIED
Krüger, ThomasEuropean Space AgencyUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:2020
Journal or Publication Title:2020 IEEE Aerospace Conference, AERO 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISSN:1095-323X
ISBN:978-172812734-7
Status:Published
Keywords:Time Delay, Teleoperation, Robot Coupling
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, USA
Event Type:international Conference
Event Dates:7.-14. März, 2020
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 - Telerobotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:26 Nov 2020 09:51
Last Modified:26 Nov 2020 09:51

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