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Extending the Knowledge Driven Approach for Scalable Autonomy Teleoperation of a Robotic Avatar

Schmaus, Peter and Bauer, Adrian Simon and Bechtel, Nicolai and Denninger, Maximilian and Köpken, Anne and Lay, Florian Samuel and Schmidt, Florian and Sewtz, Marco and Krüger, Thomas and Leidner, Daniel and Pereira, Aaron and Lii, Neal Yi-Sheng (2023) Extending the Knowledge Driven Approach for Scalable Autonomy Teleoperation of a Robotic Avatar. In: 2023 IEEE Aerospace Conference, AERO 2023. IEEE. 2023 IEEE Aerospace Conference, 04-11 Mar 2023, Big Sky, MT, USA. doi: 10.1109/AERO55745.2023.10115960. ISBN 978-166549032-0. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/10115960


Crewed missions to celestial bodies such as Moon and Mars are in the focus of an increasing number of space agencies. Precautions to ensure a safe landing of the crew on the extraterrestrial surface, as well as reliable infrastructure on the remote location, for bringing the crew back home are key considerations for mission planning. The European Space Agency (ESA) identified in its Terrae Novae 2030+ roadmap, that robots are needed as precursors and scouts to ensure the success of such missions. An important role these robots will play, is the support of the astronaut crew in orbit to carry out scientific work, and ultimately ensuring nominal operation of the support infrastructure for astronauts on the surface. The METERON SUPVIS Justin ISS experiments demonstrated that supervised autonomy robot command can be used for executing inspection, maintenance and installation tasks using a robotic co-worker on the planetary surface. The knowledge driven approach utilized in the experiments only reached its limits when situations arise that were not anticipated by the mission design. In deep space scenarios, the astronauts must be able to overcome these limitations. An approach towards more direct command of a robot was demonstrated in the METERON ANALOG-1 ISS experiment. In this technical demonstration, an astronaut used haptic telepresence to command a robotic avatar on the surface to execute sampling tasks. In this work, we propose a system that combines supervised autonomy and telepresence by extending the knowledge driven approach. The knowledge management is based on organizing the prior knowledge of the robot in an object-centered context. Action Templates are used to define the knowledge on the handling of the objects on a symbolic and geometric level. This robot-agnostic system can be used for supervisory command of any robotic coworker. By integrating the robot itself as an object into the object-centered domain, robot-specific skills and (tele-)operation modes can be injected into the existing knowledge management system by formulating respective Action Templates. In order to efficiently use advanced teleoperation modes, such as haptic telepresence, a variety of input devices are integrated into the proposed system. This work shows how the integration of these devices is realized in a way that is agnostic to the input devices and operation modes. The proposed system is evaluated in the Surface Avatar ISS experiment. This work shows how the system is integrated into a Robot Command Terminal featuring a 3-Degree-of-Freedom Joystick and a 7-Degree-of-Freedom haptic input device in the Columbus module of the ISS. In the preliminary experiment sessions of Surface Avatar, two astronauts on orbit took command of the humanoid service robot Rollin' Justin in Germany. This work presents and discusses the results of these ISS-to-ground sessions and derives requirements for extending the scalable autonomy system for the use with a heterogeneous robotic team.

Item URL in elib:https://elib.dlr.de/195176/
Document Type:Conference or Workshop Item (Speech)
Title:Extending the Knowledge Driven Approach for Scalable Autonomy Teleoperation of a Robotic Avatar
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schmaus, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-6639-0967UNSPECIFIED
Bauer, Adrian SimonUNSPECIFIEDhttps://orcid.org/0000-0002-1171-4709UNSPECIFIED
Denninger, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0002-1557-2234UNSPECIFIED
Sewtz, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-1662-534XUNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Date:15 May 2023
Journal or Publication Title:2023 IEEE Aerospace Conference, AERO 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Space vehicles, Telepresence, Avatars, Space missions, European Space Agency, Input devices, Knowledge management
Event Title:2023 IEEE Aerospace Conference
Event Location:Big Sky, MT, USA
Event Type:international Conference
Event Dates:04-11 Mar 2023
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
Deposited By: Birkenkampf, Peter
Deposited On:22 May 2023 18:15
Last Modified:14 Jun 2023 12:30

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