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Introduction to Surface Avatar: the First Heterogeneous Robotic Team to be Commanded with Scalable Autonomy from the ISS

Lii, Neal Yi-Sheng and Schmaus, Peter and Leidner, Daniel and Krueger, Thomas and Grenouilleau, Jessica and Pereira, Aaron and Giuliano, Angelo and Bauer, Adrian Simon and Köpken, Anne and Lay, Florian Samuel and Sewtz, Marco and Bechtel, Nicolai and Bustamante Gomez, Samuel and Denninger, Maximilian and Friedl, Werner and Butterfass, Jörg and Ferreira, Edmundo and Gherghescu, Andrei and Chupin, Thibaud and den Exter, Emiel and Gerdes, Levin and Panzirsch, Michael and Singh, Harsimran and Balachandrand, Ribin and Hulin, Thomas and Gumpert, Thomas and Schmidt, Annika and Seidel, Daniel and Hermann, Milan and Maier, Maximilian and Burger, Robert and Schmidt, Florian and Weber, Bernhard and Bayer, Ralph and Pleintinger, Benedikt and Holderried, Roman and Pavelski, Pedro Henrique and Wedler, Armin and von Dombrowski, Stefan and Maurer, Hansjörg and Görner, Martin and Wüsthoff, Tilo and Bertone, Serena and Müller, Thomas and Söllner, Gerd and Ehrhardt, Christian and Brunetti, Lucia and Holl, Linda and Bévan, Mairead and Muehlbauer, Robert and Visentin, Gianfranco and Albu-Schäffer, Alin (2022) Introduction to Surface Avatar: the First Heterogeneous Robotic Team to be Commanded with Scalable Autonomy from the ISS. In: Proceedings of the International Astronautical Congress, IAC, IAC-22. International Astronautical Federation, IAF. 73rd International Astronautical Congress (IAC), 2022-09-18 - 2022-09-22, Paris, France. ISSN 0074-1795.

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Official URL: https://iafastro.directory/iac/paper/id/73187/summary/

Abstract

Robotics is vital to the continued development toward Lunar and Martian exploration, in-situ resource utilization, and surface infrastructure construction. Large-scale extra-terrestrial missions will require teams of robots with different, complementary capabilities, together with a powerful, intuitive user interface for effective commanding. We introduce Surface Avatar, the newest ISS-to-Earth telerobotic experiment series, to be conducted in 2022-2024. Spearheaded by DLR, together with ESA, Surface Avatar builds on expertise on commanding robots with different levels of autonomy from our past telerobotic experiments: Kontur-2, Haptics, Interact, SUPVIS Justin, and Analog-1. A team of four heterogeneous robots in a multi-site analog environment at DLR are at the command of a crew member on the ISS. The team has a humanoid robot for dexterous object handling, construction and maintenance; a rover for long traverses and sample acquisition; a quadrupedal robot for scouting and exploring difficult terrains; and a lander with robotic arm for component delivery and sample stowage. The crew's command terminal is multimodal, with an intuitive graphical user interface, 3-DOF joystick, and 7-DOF input device with force-feedback. The autonomy of any robot can be scaled up and down depending on the task and the astronaut's preference: acting as an avatar of the crew in haptically-coupled telepresence, or receiving task-level commands like an intelligent co-worker. Through crew performing collaborative tasks in exploration and construction scenarios, we hope to gain insight into how to optimally command robots in a future space mission. This paper presents findings from the first preliminary session in June 2022, and discusses the way forward in the planned experiment sessions.

Item URL in elib:https://elib.dlr.de/189618/
Document Type:Conference or Workshop Item (Speech)
Title:Introduction to Surface Avatar: the First Heterogeneous Robotic Team to be Commanded with Scalable Autonomy from the ISS
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lii, Neal Yi-ShengUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schmaus, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-6639-0967UNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Krueger, ThomasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Grenouilleau, JessicaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pereira, AaronUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Giuliano, AngeloUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bauer, Adrian SimonUNSPECIFIEDhttps://orcid.org/0000-0002-1171-4709UNSPECIFIED
Köpken, AnneUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lay, Florian SamuelUNSPECIFIEDhttps://orcid.org/0000-0002-5706-3278UNSPECIFIED
Sewtz, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-1662-534XUNSPECIFIED
Bechtel, NicolaiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bustamante Gomez, SamuelUNSPECIFIEDhttps://orcid.org/0000-0002-7923-8307UNSPECIFIED
Denninger, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0002-1557-2234UNSPECIFIED
Friedl, WernerUNSPECIFIEDhttps://orcid.org/0000-0003-3002-7274UNSPECIFIED
Butterfass, JörgUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ferreira, EdmundoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Gherghescu, AndreiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Chupin, ThibaudUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
den Exter, EmielUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Gerdes, LevinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Panzirsch, MichaelUNSPECIFIEDhttps://orcid.org/0000-0002-0647-7147UNSPECIFIED
Singh, HarsimranUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Balachandrand, RibinUNSPECIFIEDhttps://orcid.org/0000-0002-7560-471XUNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Gumpert, ThomasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schmidt, AnnikaUNSPECIFIEDhttps://orcid.org/0000-0002-4718-4201UNSPECIFIED
Seidel, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-2240-3850UNSPECIFIED
Hermann, MilanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Maier, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0003-1502-696XUNSPECIFIED
Burger, RobertUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schmidt, FlorianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Weber, BernhardUNSPECIFIEDhttps://orcid.org/0000-0002-7857-0201UNSPECIFIED
Bayer, RalphUNSPECIFIEDhttps://orcid.org/0000-0003-2561-7974UNSPECIFIED
Pleintinger, BenediktUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Holderried, RomanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pavelski, Pedro HenriqueUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
von Dombrowski, StefanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Maurer, HansjörgUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Görner, MartinUNSPECIFIEDhttps://orcid.org/0009-0001-3418-574XUNSPECIFIED
Wüsthoff, TiloUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bertone, SerenaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Müller, ThomasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Söllner, GerdUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ehrhardt, ChristianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Brunetti, LuciaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Holl, LindaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bévan, MaireadUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Muehlbauer, RobertUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Visentin, GianfrancoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115913
Date:September 2022
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:IAC-22
Publisher:International Astronautical Federation, IAF
ISSN:0074-1795
Status:Published
Keywords:Space Teleoperation, Robotic Team Collaboration, Scalable Autonomy, Multimodal User Interface, Supervised Autonomy, Telepresence
Event Title:73rd International Astronautical Congress (IAC)
Event Location:Paris, France
Event Type:international Conference
Event Start Date:18 September 2022
Event End Date:22 September 2022
Organizer:International Astronautical Federation
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 - On-Orbit Servicing [RO], R - Interacting Robot Control [RO], R - Intuitive human-robot interface [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Schmaus, Peter
Deposited On:02 Nov 2022 14:50
Last Modified:24 Apr 2024 20:50

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