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Robotic Deployment of Extraterrestrial Seismic Networks

Leidner, Daniel and Music, Selma and Wedler, Armin (2015) Robotic Deployment of Extraterrestrial Seismic Networks. In: 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA). ESA. 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 10-13 May 2015, Noordwijk, The Netherlands.

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Abstract

Manual installation of seismic networks in extraterrestrial environments is risky, expensive and error-prone. A more reliable alternative is the automated deposition with a light-weight robot manipulator. However, inserting a spiked sensor into soil is a challenging task for a robot since the soil parameters are variable and difficult to estimate. Therefore, we investigate an approach to accurate insertion and positioning of geophones using a Cartesian impedance controller with a feed-forward force term. The feed-forward force component of the controller is either estimated using the Fundamental Earth-Moving Equation, the Discrete Element Method or empirically. For the first time, both the geological aspects of the problem as well as the aspects of robotic control are considered. Based on this consideration, the control approach is enhanced by predicting the resistance force of the soil. Experiments with the humanoid robot Rollin’ Justin inserting a geophone into three different soil samples validate the proposed method.

Item URL in elib:https://elib.dlr.de/96350/
Document Type:Conference or Workshop Item (Speech)
Title:Robotic Deployment of Extraterrestrial Seismic Networks
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Leidner, Danieldaniel.leidner (at) dlr.deUNSPECIFIED
Music, SelmaUNSPECIFIEDUNSPECIFIED
Wedler, ArminArmin.Wedler (at) dlr.deUNSPECIFIED
Date:12 May 2015
Journal or Publication Title:13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:ESA
Status:Published
Keywords:Robotic Space Exploration, Seismic Networks, Compliant Manipulation, Soil-Tool Interaction
Event Title:13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)
Event Location:Noordwijk, The Netherlands
Event Type:international Conference
Event Dates:10-13 May 2015
Organizer:ESA
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: Leidner, Daniel
Deposited On:17 Jun 2015 11:13
Last Modified:31 Jul 2019 19:53

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