A multisensor robotic module interchange system for space maintenance

The authors show the feasibility of realistic autonomous space manipulation tasks using multisensory information from a vision, force/torque, and touch sensor. They describe the basic functions of the robotic system including the design, implementation, and integration of each of the sensors mentioned above. The cooperative use of sensors is shown through mating/demating of a module interchange system. Autonomous location of the mating element, autonomous location of a guiding light target, mating and demating of the system are successfully performed