ATHLETIC: Pseudo Anthropometric Exoskeleton with a Semi Passive Actuation System for Countermeasure

This paper presents the ongoing ESA project ATHLETIC (AstronauT HeaLtH EnhancemenT Integrated Countermeasure) which aims to develop a new approach of integrated countermeasure device in the shape of an exoskeleton. It focuses primarily on the training of the lower limbs, which are the most heavily affected body parts while astronauts are exposed to microgravity. The ATHLETIC system enables High Intense Resistive Training exercises (HIRT), as well as plyometric exercises such as hopping and jumping. Development and validation shall give an answer to the question if exoskeleton technology is suitable for countermeasure in zero gravity and how such a system performs compared to existing countermeasure devices for zero gravity applications

Motion Planning for Relocatable Robots Performing On-Orbit Locomotion and Manipulation Tasks

In-space assembly is a key technology for the future development of large infrastructures in space, from space stations and telescopes, to solar power plants or planetary bases. Such structures are much larger than cargo areas in current launchers, therefore they must be sent in separate pieces that are assembled in situ, typically using relocatable robotic manipulators. The efficient exploitation of the locomotion and manipulation (loco-manipulation) abilities for such robotic systems requires suitable planning tools. In this paper, we present a motion planning approach for exploiting loco-manipulation abilities of self-relocatable space robots, assuming that they move over specific interconnects that provide the required mechanical, power and data connectivity. The proposed approach consists of three planning layers: a high-level planning for obtaining the contact sequence, a low-level planning for the joint trajectories, and a validation layer. The motion planner provides plans for single locomotion and manipulation tasks, as well as combined loco-manipulation tasks. The approach is illustrated with examples for two robotic systems: MOSAR-WM, a relocatable walking manipulator, and a multi-arm robot (MAR) equipped with two arms attached to a central tors

MOSAR : Modular spacecraft assembly and reconfiguration demonstrator

With rapid development of space systems in recent years and their limited lives, it is imperative that a sustainable space development approach is developed to support more affordable access to space for all stakeholders. The European Commission hence funded the MOSAR project which aims to create a new paradigm technology to address this increasing challenge. This paper provides an overview of this technology’s preliminary development to enable on-orbit servicing. Building on five successful projects which collectively created all required common building blocks for both planetary explorations and in-orbit missions, a novel architecture is proposed to create a walking manipulator to demonstrate its unique capability in both space system assembly and on-orbit servicing. Preliminary design concepts of a walking manipulator and spacecraft modules are shown. A dedicated simulator is also developed to evaluate the proposed novel architecture for these targeted applications

Command and Control Systems for Search and Rescue Robots

The novel application of unmanned systems in the domain of humanitarian Search and Rescue (SAR) operations has created a need to develop specific multi-Robot Command and Control (RC2) systems. This societal application of robotics requires human-robot interfaces for controlling a large fleet of heterogeneous robots deployed in multiple domains of operation (ground, aerial and marine). This chapter provides an overview of the Command, Control and Intelligence (C2I) system developed within the scope of Integrated Components for Assisted Rescue and Unmanned Search operations (ICARUS). The life cycle of the system begins with a description of use cases and the deployment scenarios in collaboration with SAR teams as end-users. This is followed by an illustration of the system design and architecture, core technologies used in implementing the C2I, iterative integration phases with field deployments for evaluating and improving the system. The main subcomponents consist of a central Mission Planning and Coordination System (MPCS), field Robot Command and Control (RC2) subsystems with a portable force-feedback exoskeleton interface for robot arm tele-manipulation and field mobile devices. The distribution of these C2I subsystems with their communication links for unmanned SAR operations is described in detail. Field demonstrations of the C2I system with SAR personnel assisted by unmanned systems provide an outlook for implementing such systems into mainstream SAR operations in the future

DexROV: Enabling effective dexterous ROV operations in presence of communication latency

Subsea interventions in the oil & gas industry as well as in other domains such as archaeology or geological surveys are demanding and costly activities for which robotic solutions are often deployed in addition or in substitution to human divers - contributing to risks and costs cutting. The operation of ROVs (Remotely Operated Vehicles) nevertheless requires significant off-shore dedicated manpower to handle and operate the robotic platform and the supporting vessel. In order to reduce the footprint of operations, DexROV proposes to implement and evaluate novel operation paradigms with safer, more cost effective and time efficient ROV operations. As a keystone of the proposed approach, manned support will in a large extent be delocalized within an onshore ROV control center, possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme also makes provision for advanced dexterous manipulation and semi-autonomous capabilities, leveraging human expertise when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial in the Mediterranean sea

Design and Development of a Relocatable Robotic Arm for Servicing On-Orbit Modular Spacecraft

The raise of orbital robotics opens a new horizon of possibilities for upcoming space missions. In the context of a global space sustainability, this paper deals with the design, development and testing of a new generation of robotic manipulator for on-orbit maintenance and servicing. This device tackles especially modular missions related to assembly and reconfiguration of modular satellites, coupled with the paradigm of standardization of spacecraft featuring standard interconnects. This robotic system benefits from an innovative multidisciplinary design for performing manipulation and relocation tasks over compatible spacecraft structures. The proposed robotic manipulator is experimentally evaluated on a representative ground demonstrator in a laboratory environment

PULSAR: Testing the Technologies for On-Orbit Assembly of a Large Telescope

The EU project PULSAR (Prototype of an Ultra Large Structure Assembly Robot) carried out a feasibility analysis for a potential mission that could demonstrate robotic technology for autonomous assembly of a large space telescope. The project performed the analysis using two hardware demonstrators, one devoted to show the assembly of five segmented mirror tiles using a robotic manipulator, and another one showing extended mobility for assembling a large structure in low gravity conditions. The hardware demonstrators were complemented with a simulation analysis to demonstrate the operation of a fully integrated system and to address the challenges especially in the field of attitude and orbital control. The techniques developed in the project support the path toward In-Space Servicing, Assembly and Manufacturing (ISAM)

Multi-functional interface for flexibility and reconfigurability of future European space robotic systems

The capabilities of maximising standard payload modules’ functionalities for applications such as on-orbit satellite servicing or planetary exploration depend critically on the creation and availability of a standard interface (IF). Standard interface should provide, aside from the necessary mechanical interconnections, electrical power and data connections, as well as thermal transfer between “building block” payload modules. The overall flexibility enabled by such IF will allow endless reconfigurations of payload and other modules for different functional requirements. This can be considered a game changer technology, enabling transformation from the current approach to space missions, deploying single-use system with pre-planned and limited functionalities, to a radically new approach with multi-use, dynamically reconfigurable and multi-functional systems. Hence, SIROM aims to set a new research agenda for future affordable space missions. Within this context, the partners of the SIROM (Standard Interface for Robotic Manipulation of payloads in future space missions) project are developing the first standard IF solution that combines the four required functionalities in an integrated and compact form for future space missions. With a mass lower than 1.5 kg and having an external diameter of 120 mm and a height of 30 mm, this novel interface permits not only mechanical coupling but also electrical, data and thermal connectivity between so called Active Payload Modules (APMs), as well as other modules such as the robotic end-effectors. This multi-functional IF features an androgynous design to allow for replacement and reconfiguration of the individual modules in any combination desired. It consists of the following sub-assemblies: mechanical IF, electrical IF, data IF, thermal IF and IF controller. A clear advantage of SIROM design is that its mechanical IF consists of a latching and guiding systems for misalignment correction, capable of withstanding certain robotic arm positioning inaccuracies: ± 5 mm translation and ± 1.5° rotation in all axes. Regarding the electrical and data IFs, SIROM transfers up to 150 W electrical power and provides a data transfer rate of 100 Mbit/s via SpaceWire, plus command communication with speeds up to 1Mbit/s via CAN bus. The thermal IF provides fluidic ports for flow transfer and has the potential to transfer 2500 W between APMs accordingly provided with the corresponding close-loop heat exchange system. Although not envisaged for SIROM current design, a possible variation could be to use these ports for satellite re-fuelling. Apart from that, SIROM exhibits redundant coupling capabilities: it can match and couple another completely passive SIROM. It is provided with main and redundant connectors for thermal, electrical, data and control flow in case of one of the lines fails. All in all, SIROM will enable long duration missions with no logistic support, refurbishing, maintenance and reconfiguration of satellites, cost efficiency and simplification of the tool exchange in scientific exploration missions. SIROM is designed to be a common building block for European and possibly world future space robotics enabled missions

Design and Integration of a Multi-arm Installation Robot Demonstrator for orbital large Assembly

Space facilities for orbital exploitation and exploration missions are increasingly requiring larger structure to extend their capabilities. Dimensions of future scientific outposts, solar stations and telescopes undoubtedly matter to expand our horizons, power our planet or explore the universe. Due to the foreseen large structures for such applications, a single self-deploying piece contained in standard launcher fairings might become inadequate. Another approach is that large structures could be broken down into standard modules that will be built in-orbit. Assembling large structure in space is particularly challenging but the raise of key enablers as standard interconnects and advanced robotics opens a new horizon for such applications. It is assumed here that the large spacecraft structure and modules are equipped with standard interconnects (SI) that allow them to be mated to each other and to the robot system for manipulation/transport/installation, or to allow the robot system to move across them. This paper introduces the concept of a novel Multi-Arm Robot (MAR) dedicated to on-orbit large telescope assembly, its ground equivalent laboratory demonstrator design and preliminary hardware integration. The MAR is a modular robot composed of three robotic subsystems - a torso and two symmetrical 7-degree of freedom (DOF) anthropomorphic arms with non-spherical wrists - that are functionally independent and can be connected by the means of Standard Interconnects. The modular approach of the MAR reduces the complexity of the different robotic appendages and offers a set of robotic configuration that extends the range of possible operations and provides an intrinsic system redundancy that reduces the overall mission risk. To assess the MAR concept, a Technology Readiness Level (TRL) 4 ground demonstrator, has been designed to provide a framework that allows the multi-arm robot to execute its overall scope of operations in a ground laboratory environment. It comprises a testbed (dummy spacecraft structure, home base, storage area and mobile payloads) offering a space representative environment, a mission control center (computer, simulator and electrical/data support equipment) supervising the MAR's tasks, and a gravity compensation system (gantry crane and offloading system) for supporting the robot under 1-g

Demonstrator Design of a Modular Multi-arm Robot for On-orbit Large Telescope Assembly

The development of building blocks, and standard interconnects in particular, enables promising perspectives for the assembly of large structures on-orbit. By coupling these standard interconnects with dexterous arms, it is now possible to imagine orbital robots assembling, in-situ, modular structures to emancipate from launcher constraints. Such a mission scenario and related concept of operations are proposed within the ESA MIRROR project. It involves a modular multi-arm installation robot to address this challenge. This paper deals with the design of a fully representative breadboard for this innovative robot in order to prove its concept and abilities. This demonstrator features a ground equivalent robotic system, a testbed and necessary ground support equipments