This document discusses space robotics and provides examples of current and potential future applications. It covers the importance of space robots in performing tasks less expensively and with less risk than human astronauts. Examples are given of current space robots, including Mars rovers and Robonaut, and the technological capabilities needed include mobility, manipulation, and operating in extreme environments with communication delays. Fundamental research challenges are outlined in areas like navigation and force control. International efforts in space robotics from countries and agencies like NASA, Japan, Europe, and the UK are also summarized. The future scope of space robotics is expected to include more autonomous planetary rovers and robots able to precisely assemble and service hardware despite time delays.

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Space Robotics

3. CONTENTS
1-Introduction
2-Space Robots Importance
3-what technology is needed?
4-Examples of Space Robots
5-Fundamental research challenges
6-International efforts in Space Robotics
7-Future scope of Space Robotics

4. INTRODUCTION
Space Robotics is the development of machines for
the space environment that perform Exploration, or to
Assemble/Construct, Maintain, or Service other
hardware in Space.
Humans generally control space robots locally (e.g.
Space Shuttle robotic arm) or from a great distance
(e.g. Mars Exploration Rovers)

5. Space Shuttle robotic arm
Mars Exploration Rovers

6. Space Robots Importance
Perform tasks less expensively, sooner, and with less
risk or more delicate "touch" than with human
astronauts
Go where people can’t go (within reason), and for
long durations
Space is a hazardous environment & Access to
space is expensive
Robots don't need to return to Earth (which can be
very costly)
NASA JPL,USA NASA JSC,USA WTEC Robotics

7. What technology is needed?
Mobility:
Need to plan paths that move quickly and accurately from A to B without
collisions or putting robot or worksite elements at risk.
Manipulation:
Need to contact worksite elements safely, quickly and accurately without
imparting excessive forces beyond those needed for the task.
Time Delay:
The speed-of-light delay between humans on Earth and the robot is
seconds in the Earth-moon vicinity and ~30 minutes to Mars.
Extreme Environments:
Radiation, temperature, very fine dust, etc.
Power, communications:
difficult.

8. Example of Space Robots
Mars Exploration Rover
Two MER’s “spirit and opportunity” have explored opposite
sides of Mars since Jan '04, traversing many kilometres each,
taking over 80,000 images and 1.5 million spectra from
multiple instruments.
Robot arm on Mars Exploration
Rover

9. Example of Space Robots(conti....)
Robonaut
Robonaut is an "astronaut-equivalent",highly dexterous robot
under development that will use all the same tools, handholds, and
other equipment that astronauts in space suits can use.
It can be perform as an assistant in collaboration with suited
astronauts.
Robonaut performing
dexterous grasp

10. Fundamental Research Challenges
Mobility:
Finding accurate answers to the questions:
 Where am I ?
 Where is the current “goal” Point?
 Where are any obstacles or hazards, including
hazards that may not be visible (e.g. Soft sand)
 How can I know where I am relative to everything
else as I move?

11. Fundamental Research Challenges (Cont....)
Manipulation:
How can I sense and impart forces that are sufficient but not
excessive to accomplish the task? How can I move both
quickly enough to assist human astronauts but not pose a risk
to them?
Time Delay:
How to place the space robot with sufficient sensing,
perception, and reasoning to work safely and productively for
a period at least as great as the speed of light round trip for
human update?

12. SARCOS dexterous hand
capable of force control
Artist's concept of a submarine
robot in the sub-ice liquid water
ocean

13. U.S. Space Robots - Rovers
Hyperion robot developed by
Carnegie-Mellon University used in
arctic and other planetary analog sites
Rocky-7 rover, developed by JPL
for Sized long-range traverse in a
Sojourner vehicle
INTERNATIONAL EFFORTS IN SPACE ROBOTICS

14. North America - Space Manipulators
Robonaut, developed by the
Johnson Space Center, is used to
study the use of anthropomorphic
Phoenix arm, developed by the Jet
Propulsion Laboratory for the Phoenix
mission

15. Japan Space Robots
In 1999 the Japanese Space Agency flew the free-flying ETS-VII
flight experiment, demonstrating semiautonomous rendezvous and
docking and substantial manipulation functions on a task board.
The Japanese Experiment Module for the International Space
Station includes the dexterous Small Fine Arm (awaiting launch).
Artist's conception of the ETS-VII
rendezvous and docking experiment

16. Europe - U.K. and France
The British developed the manipulator arm for the Beagle-2
Mars probe.
 CNES and LAAS in Toulouse have had a long program of
research in planetary rover navigation and control, and have
proposed a substantial role in a Mars Rover for the European
Space Agency Exo Mars Project.
Beagle-2 Mars probe with robot arm

17. FUTURE SCOPE OF SPASE ROBOTICS
Future trends in Space Robotics are expected to
lead to planetary rovers that can operate many days
without commands, and can approach and analyze
science targets from a substantial distance with only
a single command.
robots that can assemble/construct, maintain,
and service space hardware using very precise
force control, dexterous hands, despite multi-
second time delay.

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