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Exploring planet geology through force-feedback telemanipulation from orbit

Panzirsch, Michael and Pereira, Aaron and Singh, Harsimran and Weber, Bernhard and Ferreira, Edmundo and Gherghescu, Andrei and Hann, Lukas and den Exter, Emiel and van der Hulst, Frank P. J and Gerdes, Levin and Cencetti, Leonardo and Wormnes, Kjetil and Grenouilleau, Jessica and Carey, William and Balachandran, Ribin and Hulin, Thomas and Ott, Christian and Albu-Schäffer, Alin Olimpiu and Lii, Neal Yi-Sheng and Krüger, Thomas (2022) Exploring planet geology through force-feedback telemanipulation from orbit. Science Robotics, 7 (65), pp. 1-11. American Association for the Advancement of Science (AAAS). doi: 10.1126/scirobotics.abl6307. ISSN 2470-9476.

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Official URL: https://www.science.org/stoken/author-tokens/ST-445/full


Current space exploration roadmaps envision exploring the surface geology of celestial bodies with robots, for both scientific research and in-situ resource utilization. In such unstructured, poorly lit, complex and remote environments, automation is not always possible, and some tasks, such as geological sampling, require direct tele-operation aided by force-feedback. The operator would be on an orbiting spacecraft, and poor bandwidth and high latency and packet loss from orbit to ground mean that safe, stable, and transparent interaction is a substantial technical challenge. For this scenario, a control method was developed which ensures stability at high delay without reduction in speed or loss of positioning accuracy. At the same time, a new level of safety is achieved not only through force-feedback itself but also through 1an intrinsic property of the approach preventing hard impacts. Based on this method, a tele-exploration scenario was simulated in the Analog-1 experiment with an astronaut on the International Space Station (ISS) using a 6-degreeof-freedom (DoF) force-feedback (F-F) capable haptic input device to control a mobile robot with manipulator on Earth to collect rock samples. The 6-DoF FF tele-manipulation from space was performed at a round-trip communication delay constantly between 770 and 850 milliseconds and an average packet loss of 1.27%. This experiment showcases the feasibility of a complete space exploration scenario via haptic tele-manipulation under space-flight conditions. The results underline the benefits of this control method for safe and accurate interactions, and of haptic feedback in general.

Item URL in elib:https://elib.dlr.de/186200/
Document Type:Article
Title:Exploring planet geology through force-feedback telemanipulation from orbit
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Pereira, AaronAaron.Pereira (at) dlr.deUNSPECIFIED
Singh, Harsimranharsimran.singh (at) dlr.deUNSPECIFIED
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Ferreira, EdmundoEdmundo.Ferreira (at) esa.intUNSPECIFIED
Gherghescu, AndreiAndrei.Gherghescu (at) esa.intUNSPECIFIED
Hann, LukasLukas.Hann (at) esa.intUNSPECIFIED
den Exter, EmielEmiel.den.Exter (at) esa.intUNSPECIFIED
van der Hulst, Frank P. JFrank.van.der.Hulst (at) esa.intUNSPECIFIED
Gerdes, LevinLevin.Gerdes (at) esa.intUNSPECIFIED
Cencetti, LeonardoLeonardo.Cencetti (at) esa.intUNSPECIFIED
Wormnes, Kjetilkjetil.wormnes (at) esa.intUNSPECIFIED
Grenouilleau, JessicaJessica.Grenouilleau (at) esa.intUNSPECIFIED
Carey, WilliamWilliam.Carey (at) esa.intUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Hulin, ThomasThomas.Hulin (at) dlr.dehttps://orcid.org/0000-0002-3814-075X
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Lii, Neal Yi-ShengNeal.Lii (at) dlr.deUNSPECIFIED
Krüger, Thomasthomas.krueger (at) esa.intUNSPECIFIED
Date:20 April 2022
Journal or Publication Title:Science Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1126/scirobotics.abl6307
Page Range:pp. 1-11
Publisher:American Association for the Advancement of Science (AAAS)
Keywords:Teleoperation, ISS, force feedback
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intuitive human-robot interface [RO]
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:02 May 2022 11:17
Last Modified:02 May 2022 11:17

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