In this chapter, we survey the current state of the art in space telerobots. We begin by defining relevant terms and describing applications. We then examine the design issues for space telerobotics, including common requirements, operational constraints, and design elements. A discussion follows of the reasons space telerobotics presents unique challenges beyond terrestrial systems. We then present case studies of several different space telerobots, examining key aspects of design and human-robot interaction. Next, we describe telerobots and concepts of operations for future space exploration missions. Finally, we discuss the various ways in which space telerobots can be evaluated in order to characterize and improve performance. INTRoDUCTIoN Context and Motivation Future space missions in Earth orbit, to the moon, and to other distant destinations offer many new opportunities for exploration. However, astronaut time is always limited and some work is not feasible or efficient for humans to perform. Robots, however, can complement human explorers, performing work under remote control from Earth, orbit, or nearby habitats. A central challenge, therefore, is to understand how humans and robots can work efficiently and effectively together in order to maximize performance, improve scientific return, and increase mission success. Telerobots can take various forms and do a variety of work to increase the productivity of space exploration. They are well suited to performing tasks (surveys, routine maintenance, etc.) that are tedious, highly repetitive, dangerous or long duration, such as advance scouting, site preparation, and habitat construction that help prepare for future human activity. Telerobots can also assist humans side by side during activities and perform follow-up work, completing tasks started by humans or executing tasks that complement and supplement prior human work.
