Intra-Vehicular Free-Flyer System

Author

Tsumaki, Yuichi ; Yokohama, Mami ; Nenchev, Dragomir N.

Author_Institution

Hirosaki Univ., Japan

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2547

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249253

Filename

1249253