Title :
Intra-Vehicular Free-Flyer System
Author :
Tsumaki, Yuichi ; Yokohama, Mami ; Nenchev, Dragomir N.
Author_Institution :
Hirosaki Univ., Japan
Abstract :
The shortage of human resources on the International Space Station (ISS) is becoming a serious problem. To tackle this problem, smart robot systems that support human activities in space should be developed. In this paper, a new space robot system named "Intra-Vehicular Free-Flyer System (IVFFS)" is proposed. The IVFFS supports not only non-contact but also contact tasks during intra-vehicular activities (IVA). To accomplish such requirements, we introduce a prototype model called "Space Humming Bird" (SHB) which has a variably structured body to satisfy both safety and dexterity requirements. Furthermore, several SHBs can be combined to achieve more complicated tasks. To confirm the feasibility of our concept, a CG simulator is developed. In addition, several operator support techniques are incorporated into the tele-operation system.
Keywords :
aerospace robotics; telerobotics; variable structure systems; CG simulator; dexterity; human resources; international space station; intra vehicular free flyer system; intravehicular activities; operator support techniques; smart robot systems; space humming bird; space robot system; teleoperation system; Computer graphics; Humans; Intelligent robots; International Space Station; Orbital robotics; Propellers; Propulsion; Robot sensing systems; Safety; Space technology;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249253