Multisensory shared autonomy and tele-sensor-programming-Key issues in the space robot technology experiment ROTEX

The paper outlines key technologies in DLR’s approach to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) the tele-sensor-programming concept is introduced that allows sensor-based teleoperation despite of large signal delays as well as sensor-based offline programming following a ’’learning by showing’’ concept. End of April 93 a small multisensory robot based on these concepts was flying in space with a 10 day-space shuttle mission (spacelab D2 mission on shuttle COLUMBIA, flight STS 55). This robot technology experiment ROTEX was very successfull and showed that with these sensor-based concepts even present-day space robots are able to perform different prototype tasks in a variety of operational modes, that include automatic (reprogrammable) operation, on-board teleoperation and on-ground teleoperation using human and/or machine intelligence. Thus the concepts outlined in this paper (e.g. the unified treatment of sensor-based teleoperation and sensor-based offline-programming) are no longer just ideas or proposals, but they have proven their efficiency in real space flight.