On-orbit servicing involves a new class of space missions in which a servicer spacecraft is launched into the orbit of a target spacecraft, the client. The servicer navigates to the client with the intention of manipulating it, using a robotic arm. Within this framework, this work presents a new robotic experimental facility which was recently built at the DLR to support the development and experimental validation of such orbital servicing robots. The facility allows reproducing a close-proximity scenario under realistic three-dimensional orbital dynamics conditions. Its salient features are described here, to include a fully actuated macro-micro system with multiple sensing capabilities, and analyses on its performance including the amount of space environment volume that can be simulated.

Research on humanoid robots for use in servicing tasks, e.g. fetching and delivery, attracts steadily more interest. With “Rollin' Justin” a mobile robotic system and research platform is presented that allows sophisticated control algorithms and dexterous manipulation. This video gives an overview of the mobile humanoid robotic system “Rollin' Justin” with special emphasis on mechanical design features, control issues and high-level system capabilities such as human robot interaction.

This video presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. The system is based on the modular DLR-Lightweight-Robot-III and the DLR-Hand-II. Two arms and hands are combined with a three degrees-of-freedom movable torso and a visual system to form a complete humanoid upper body. The diversity of the system is demonstrated by showing the mechanical design, several control concepts, the application of rapid prototyping and hardware-in-the-loop (HIL) development as well as two-handed manipulation experiments and the integration of path planning capabilities.

Outlines the situation in orbital space robotics with special reference to what DLR (German Aerospace Center) has contributed to the field. After our ROTEX experiment, the first remotely controlled space robot inside the space shuttle, the Japanese ETS VII has now been the first remotely controlled free-flying space robot. We had the opportunity to control this arm from the ground, too, including the use of the robot arm as a satellite attitude controller. It is outlined how it is now time to take the next steps towards operational ground-controlled space robot systems, presumably first on the International Space Station, but later on as free flying robonauts assisting or even replacing extra vehicular activities.

In April 1993 for the first time in the history of space flight, a small multisensory robot performed a number of prototype tasks on-board a spacecraft (spacelab D2 on shuttle COLUMBIA) in different operational modes that are feasible today, namely preprogrammed remotely controlled operations by the astronauts using a control ball and a stereo TV-monitor, as well as remotely controlled from ground via the human operator and machine intelligence. In these operational modes the robot successfully closed and opened connector plugs (bayonet closure), assembled structures from single parts and captured a free-floating object. Several key technologies have made this space robot technology experiment ROTEX a big success: multisensory gripper technology, local (shared autonomy) sensory feedback control concepts, and the powerful delay-compensating 3D-graphics simulation (predictive simulation) in the telerobotic ground station. This paper focusses on the tele-sensor-programming approach and the predictive simulation used for remote ground control.>

We propose the so-called TeleSensor programming concept that uses sensory perception to achieve local autonomy in robotic manipulation. Sensor based robot tasks are used to define elemental moves within a high level programming environment. This approach is applicable in both, the real robot's world and the simulated one. Beside the graphical off-line programming concept, the range of application lies especially in the field of teleoperation with large time delays. A shared autonomy concept is proposed that distributes intelligence between man and machine. The feasibility of graphically simulating the robot within its environment is extended by emulating different sensor functions to achieve a correct copy of the real system behaviour as far as possible. The programming paradigm is supported by a sophisticated graphical man machine interface. Sensor fusion aspects with respect to autonomous sensor controlled task execution are discussed as well as the interaction between the real and the simulated system.>

Outlines key technologies in the approach of the author's research establishment to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) a tele-sensor programming concept is introduced that allows sensor-based teleoperation in spite of large signal delays as well as sensor-based off-line programming following a "learning by showing" concept. A small multisensory robot based on these concepts has flown in space with a ten-day Space Shuttle mission. This robot technology experiment ROTEX was very successful and showed that, with these sensor-based concepts, even present-day space robots can perform different prototype tasks in a variety of operational modes, including automatic (reprogrammable) operation, and on-board teleoperation using human and/or machine intelligence.

In early 1993 the space robot technology experiment ROTEX was flown with space-shuttle Columbia. A multisensory robot onboard the spacecraft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes. These included online teleoperational and telesensor-programming: a task-level oriented programming technique involving learning-by-showing concepts in a virtual environment. The robot's key features were its multisensory gripper and the local sensory feedback schemes that are the basis for shared autonomy. The corresponding man-machine interface concepts, which use a six-degree-of-freedom non-force-reflecting control ball and visual feedback to the human operator, are explained. Stereographic simulation on the ground was used to predict not only the robot's free motion but even the sensor-based path refinement onboard. Prototype tasks performed by this space robot were the assembly of a truss structure, connecting/disconnecting an electrical plug (orbit replaceable unit exchange), and grasping free-floating objects.>

The space robot technology experiment ROTEX to fly with the next spacelab mission D2 in January 1993 provides a multisensory robot which is supposed to work in an autonomous mode, teleoperated by astronauts, as well as in different telerobotic ground control modes.These include on-line teleoperation and telesensorprogramming, a task-level oriented programming technique involving `learning by showing'concepts in a virtual environment. The robot's key features are its multisensory gripper and the local sensory feedback schemes which are the basis for shared autonomy. The corresponding man-machine interface concepts using a 6 dof non- force-reflecting control ball and visual feedback to the human operator are explained.Stereographic simulation on ground is supposed to predict even the sensor based path refinement on board, while realtime fusion of stereo images and laser range information helps to predict the motion of floating objects to be grapsed from ground, too. Other prototype tasks to be performed by this space robot are the assembly of a truss structure and connecting/ disconnecting an electrical plug (orbit replaceable unit exchange ORU).