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HET Telerobo c Systems

Robonaut 2• Humanoid robot(42 DOF, human-scale/safe)

• Perform dexterous IVA/EVA manipula on tasks

• Share astronaut tools and workspaces

Smart SPHERES• Free-flyi ng robot (6 axis, cold-gas propulsion)

• Perform IVA/EVA remote mobile sensor tasks

• Improve ground control situa on awa reness

Surface Telerobo cs • Mobile robot on surface(Moon, asteroid, Mars)

• Perform surface ac vi es before/support/a er crew

• Crew centric opera ons from inside flight vehi cl e

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Surface Telerobo cs

Candidate Missions• L2 Lunar Farside. Orion crew module test flight (~2020) to Ear th- Mo on L2 poi nt

• Near-Earth Asteroid. NEA dynamics and distance make it impossible to manually control robot from Earth

• Mars Orbit. Crew must operate surface robot from orbit when circumstances (con ngency, et c. ) pr ecl ude Ear th cont rol

What will the test achieve?• Obtain baseline engineering data• Validate & correlate prior ground simula ons • Reduce the risk that mission planning is based on inaccurate assump ons

Surface Telerobo cs is an engineering test of a human-robot “opscon” for future deep-space human explora on mi ssi ons

(NASA GSFC)

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L2 Lunar Farside (Waypoint) Mission Concept

Orion at Earth-Moon L2 Lagrange point• 60,000 km beyond lunar farside• Allows sta on keepi ng wi th mi ni ma l fuel • Crew remotely operates robot on lunar

farside• Less expensive than human surface mission• Does not require human-rated lander

Primary objec ve: lunar tel escope • Use telerobo o set up radi o tel escope • Requires surface survey, antenna/receiver

deployment, and inspec on/docume nt a on • Lunar farside provides radio quiet zone for

low-freq measurements cosmic dawn

Secondary objec ve: samp l e col lec on • Use telerobo o per form field geol ogy • Requires scou ng, samp l ing (pos si bl y

subsurface), and sample caching/return• South Pole Aitken (SPA) basin sampling is

the highest priority lunar science objec ve

(Lockheed Martin / LUNAR)

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Waypoint Mission Simula on (2013)

June 17 July 26 August 20Spring 2013

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Crew Interface (Task Sequence Mode)

Terrain hazardsTerrain hazards

Task Sequence

Task Sequence

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Crew Interface (Teleop Mode)

Rover pathRover path

Motion

controls

Motion

controls

Terrain hazardsTerrain hazards Rover cameradisplay

Rover cameradisplay

Camera

controls

Camera

controls

3D View controls3D View controls

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“Live” Rover Sensor and Instrument

Data (telemetry)

Crew Interface on SSC

K10 rover at NASA Ames

Data Communica ons (Ups i de- down Payl oad)

384 kbits/sec (min), 5 sec delay (max)Uplink

8 kbits/sec (min), 5 sec delay (max)

Downlink

384 kbits/sec (min), Out-of-Band

Uplink, data transferto laptop storage

Rover Task Sequence (text file)

Interface Instrumenta on & Evalua on Da ta

Post-test File Transfer

Rover/Science Data (e.g. imagery)

Note: Normal uplink ~1Mbps, spike a er LOS is ~2Mbps for 2 sec

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Robotics Technology Development at Ames 27

K10 rover before dawn in the ARC “Roverscape”

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K10 Planetary Rover @ NASA Ames

NASA Ames Roverscape

K10 Specifications• 4-wheel drive, 4-wheel steer• Split rocker chassis• Size: 1.3 x 0.9 x 1.0 m (HxWxL)• Speed: 0.9 m/s (on 10 deg slope)• Power: 1900 W (Li-ion batteries)• Weight: 100 kg (with 25 kg payload)

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Telerobo cL unar Tel escope Depl oyme nt

K10 deploying simulated polyimide antenna.

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K10 Deploys Kapton Film in Marscape

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Chris Cassidy uses the “Surface Telerobo cs Wo r kbench”

Astronaut remotely operates K10 from the ISS (2013-06-17)

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Astronauts Parmitano & Nyberg Operate K10 from ISS

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ISS Mission Control (MCC-H) during Surface Telerobo cs test (2013- 08- 20)

View of Karen Nyberg using robot interface (top center) and K10 at ARC (top le )

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“PLUTO” Mul -Pur pose Suppor t Room at JSC

Provides data comm & crew laptop support

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Robotics Technology Development at Ames 35

Mul -Mi ssi on Oper a ons Cent er (MMO C ) at ARC

Manages Surface Telerobo cs test sessi ons

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Robotics Technology Development at Ames 36

K10 support team at ARC

Provides rover engineering & test logis cs

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Robotics Technology Development at Ames 37

Ques ons?

Intelligent Robo cs Gr oup Intelligent Systems DivisionNASA Ames Research Center

irg.arc.nasa.gov

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