Preliminary Insights From the METERON SUPVIS Justin Space-Robotics Experiment

Schmaus, Peter; Leidner, Daniel; Krüger, Thomas; Schiele, A.; Pleintinger, Benedikt; Bayer, Ralph; Lii, Neal Y.

doi:10.1109/lra.2018.2856906

Cited by 34 publications

(37 citation statements)

References 18 publications

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“…In our previous work, we introduced an HRI concept that utilizes the autonomous capabilities of the robot to provide the operator with an intuitive interface [4]. In this section, we give a quick overview of the system, and propose extensions to allow the operator to command more complex tasks not solvable by the robot alone.…”

Section: Astronaut-robot Teleoperation Conceptmentioning

confidence: 99%

“…the target orientation when rotating a solar panel. In the initial version of the HRI, presented in [4], the robot autonomously decided on the parameterization of the command based on the current state of robot and environment. The upgraded HRI adds the functionality for the astronaut to manually adjust these parameters to guide the task execution of the robot.…”

Section: System Extensionmentioning

confidence: 99%

“…We were able to connect to the ISS LAN through the communication gateway, creating a bidirectional communication link to SOLEX via various NASA and ESA facilities using ESAs Multi Purpose Computer and Communication software suite. A detailed overview of the space communication link is given by [4]. The METERON SUPVIS Justin experiment marked the first time that such a connection from an ISS payload system was used to command a semi-autonomous service robot on Earth.…”

Section: A Experiments Setupmentioning

confidence: 99%

“…Using the robot's local intelligence to take over lower level tasks has been shown to be effective in terrestrial applications [3]. Extending on this taskspace approach, we proposed a supervised autonomy approach for robot commanding that lets the astronaut use the taskspecific intelligence of the robot [4]. This makes the robot an intelligent coworker rather than a tool for the astronaut, efficiently reducing the mental and physical workload for the astronaut compared to the direct teleoperation of the robot.…”

Section: Introductionmentioning

confidence: 99%

“…This work builds on our prior work on a knowledge driven approach for effective teleoperation of an intelligent service robot from an orbiting spacecraft [4]. The contributions in this work include (i) extensions to the approach to allow command parameterization and pinning, (ii) an on-ground evaluation by a user study, and (iii) comparative on-orbit evaluation with trained and untrained astronauts on board the ISS, and (iv) commanding maintenance and assembly tasks in real-world scenarios.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Schmaus

Leidner

Krüger

et al. 2020

IEEE Robot. Autom. Lett.

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The crewed exploration of Moon and Mars requires the construction and maintenance of infrastructure on the alien surfaces before a crew arrives. Robotic coworkers are envisioned to take over the physical labor required to set-up crew habitats, energy supplies, and return vehicles in the hazardous environment. Deploying these robots in such a remote location poses a challenge that requires autonomous robot capabilities in combination with effective Human Robot Interfaces (HRIs), which comply with the harsh conditions of deep space operations. An astronaut-robot teleoperation concept targeting these topics has been evaluated in DLR and ESA's METERON SUPVIS Justin experiment where astronauts on-board the International Space Station (ISS) commanded DLR's humanoid robot Rollin' Justin in a simulated Martian environment on Earth. This work extends on our previously presented approach to supervised autonomy. It examines the results of the two follow-up experiment sessions which investigated maintenance and assembly tasks in real-world scenarios. We discuss the use of our system in real space-toground deployment and analyze key performance metrics of the HRI and the feedback given by the astronauts.

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Section: Astronaut-robot Teleoperation Conceptmentioning

confidence: 99%

Section: System Extensionmentioning

confidence: 99%

Section: A Experiments Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Schmaus

Leidner

Krüger

et al. 2020

IEEE Robot. Autom. Lett.

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A General Framework for Shared Control in Robot Teleoperation with Force and Visual Feedback

Nicolis

2019

Special Topics in Information Technology

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In the last decade, the topic of human robot interaction has received increasing interest from research and industry, as robots must now interface with human users to accomplish complex tasks. In this scenario, robotics engineers are required to take the human component into account in the robot design and control. This is especially true in telerobotics, where interaction with the user plays an important role in the controlled system stability. By means of a thorough analysis and practical experiments, this contribution aims at giving a concrete idea of the aspects that need to be considered in the design of a complete control framework for teleoperated systems, that are able to seamlessly integrate with a human operator through shared control.

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Path Planning and Optimization of Humanoid Manipulator in Cartesian Space

Han

et al. 2022

J. Shanghai Jiaotong Univ. (Sci.)

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Preliminary Insights From the METERON SUPVIS Justin Space-Robotics Experiment

Cited by 34 publications

References 18 publications

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

A General Framework for Shared Control in Robot Teleoperation with Force and Visual Feedback

Path Planning and Optimization of Humanoid Manipulator in Cartesian Space

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