A Space CoBot for personal assistance in space stations

Microgravity environments inside inhabited space stations are particularly challenging for service robots, being quite different from Earth in various ways. In this paper we propose and discuss the design and applicability of a collaborative aerial robot, called Space CoBot, to provide personal assistance to astronauts in microgravity environments. The platform is based on a modular holonomic aerial vehicle with an hexarotor configuration. In this paper we explore the feasibility of using Space CoBot for performing two tasks: (1) scavenging afloat waste and (2) stabilization of astronaut motion. Scavenging is performed by tracking and sucking debits, while stabilization aims at driving to zero the motion of an astronaut attached to the robot. A convergent motion controller is used for guidance of the vehicle to accomplish both tasks. We provide simulation results on a realistic simulator to illustrate the feasibility of the approach.