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An Interactive Virtual Reality System for On-Orbit Servicing

Sagardia, Mikel and Hertkorn, Katharina and Hulin, Thomas and Wolff, Robin and Hummel, Johannes and Dodiya, Janki and Gerndt, Andreas (2013) An Interactive Virtual Reality System for On-Orbit Servicing. [Other]

[img] PDF (Abstract of the Video)
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Official URL: http://ieeevr.org/2013/

Abstract

The growth of space debris is becoming a serious problem. There is an urgent need for mitigation measures based on maintenance, repair and de-orbiting technologies. Our video presents a virtual reality framework in which robotic maintenance tasks of satellites can be simulated interactively. The two key components of this framework are a realistic virtual reality simulation and an immersive interaction device. The peculiarity of the virtual reality simulation is the combination of a physics engine based on Bullet with an extremely efficient haptic rendering algorithm inspired by an enhanced version of the Voxmap-Pointshell Algorithm. A central logic module controls all states and objects in the virtual world. To enable the human operator an optimal immersion into the virtual environment, the DLR bimanual haptic device is used as interaction device. Equipped with two light-weight robot arms, this device is able to provide realistic haptic feedback at both human hands, while covering the major part of human operator’s workspace. The applicability of this system is enhanced by additional force sensors, active hand interfaces with an additional degree of freedom, smart safety technologies and intuitive robot data augmentation. Our platform can be used for verification or training purposes of robotic systems interacting in space environments.

Item URL in elib:https://elib.dlr.de/82750/
Document Type:Other
Additional Information:Video
Title:An Interactive Virtual Reality System for On-Orbit Servicing
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sagardia, MikelMikel.Sagardia (at) dlr.deUNSPECIFIED
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Hulin, ThomasThomas.Hulin (at) dlr.deUNSPECIFIED
Wolff, RobinRobin.Wolff (at) dlr.deUNSPECIFIED
Hummel, JohannesJohannes.Hummel (at) dlr.deUNSPECIFIED
Dodiya, JankiJanki.Dodiya (at) dlr.deUNSPECIFIED
Gerndt, AndreasAndreas.Gerndt (at) dlr.deUNSPECIFIED
Date:18 March 2013
Journal or Publication Title:IEEE Virtual Reality
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:virtual reality, virtual prototyping, skill transfer, haptics, OOS, visualization
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben On-Orbit Servicing - GNC und VR
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Sagardia, Mikel
Deposited On:22 Aug 2013 13:53
Last Modified:31 Jul 2019 19:41

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