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Motion Planning for Relocatable Robots Performing On-Orbit Locomotion and Manipulation Tasks

Huzynets, Anatoliy and Rodriguez Brena, Ismael Valentin and Deremetz, Mathieu and Letier, Pierre and Grunwald, Gerhard and Roa Garzon, Máximo Alejandro (2022) Motion Planning for Relocatable Robots Performing On-Orbit Locomotion and Manipulation Tasks. In: Proceedings of the International Astronautical Congress, IAC. 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/74101/summary/

Abstract

In-space assembly is a key technology for the future development of large infrastructures in space, from space stations and telescopes, to solar power plants or planetary bases. Such structures are much larger than cargo areas in current launchers, therefore they must be sent in separate pieces that are assembled in situ, typically using relocatable robotic manipulators. The efficient exploitation of the locomotion and manipulation (loco-manipulation) abilities for such robotic systems requires suitable planning tools. In this paper, we present a motion planning approach for exploiting loco-manipulation abilities of self-relocatable space robots, assuming that they move over specific interconnects that provide the required mechanical, power and data connectivity. The proposed approach consists of three planning layers: a high-level planning for obtaining the contact sequence, a low-level planning for the joint trajectories, and a validation layer. The motion planner provides plans for single locomotion and manipulation tasks, as well as combined loco-manipulation tasks. The approach is illustrated with examples for two robotic systems: MOSAR-WM, a relocatable walking manipulator, and a multi-arm robot (MAR) equipped with two arms attached to a central torso

Item URL in elib:https://elib.dlr.de/192703/
Document Type:Conference or Workshop Item (Keynote)
Title:Motion Planning for Relocatable Robots Performing On-Orbit Locomotion and Manipulation Tasks
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Huzynets, AnatoliyUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Rodriguez Brena, Ismael ValentinUNSPECIFIEDhttps://orcid.org/0000-0002-2310-9186UNSPECIFIED
Deremetz, MathieuSpace Applications ServicesUNSPECIFIEDUNSPECIFIED
Letier, PierreSpace Applications ServicesUNSPECIFIEDUNSPECIFIED
Grunwald, GerhardUNSPECIFIEDhttps://orcid.org/0000-0002-9306-1616UNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
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
ISSN:0074-1795
Status:Published
Keywords:space robotics, relocatable robot, multi-contact planning, motion planning, loco-manipulation
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 - IAF
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]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:21 Dec 2022 08:31
Last Modified:24 Apr 2024 20:53

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