→ INTERACT SPACE EXPERIMENT

Recommendations

Info

Technical Features → INTERACT CENTAUR The mobile robotic platform called the Interact Centaur was specifically designed to be able to maneuver through rough terrain at high speeds and to have the dexterity to perform very delicate and precise manipulation tasks through remote control. The custom vehicle design was brought from concept to reality in little over a year. ROBOTIC PAN-AND-TILT NECK AND HEAD A robotic 6 degrees of freedom Neck gives the cameras in the rover’s head an enormous field of view, good for driving and for close visual inspection tasks. REAL-TIME CAMERAS The rover has 4 dedicated real-time streaming cameras that the astronaut can use during the mission. A head pan-tilt camera that will allow general contextual overview of the situation during driving and exploration of the environment. A tool camera mounted on the right robotic arm for vision during precise tool manipulation. Two hazard cameras (front and back) to view the near proximity area otherwise occluded by the chassis during driving. COMPUTING The robot makes use of seven high performance computers running software that has been programmed in a highly modular, model-based and distributed way. EXTERIOR DESIGN A custom-made exterior protects all delicate mechatronic and computing hardware from dust and ensures a good thermal design. ROBOTIC ARMS Two KUKA lightweight robotic arms on the front of the rover allow the operator to perform very precise manipulation tasks. The arms can be ‘soft controlled’ to safely interact with humans or delicate structures and can be programmed to be compliant (like a spring and or damper) when they hit an object. The arms are equipped with highly ‘force sensitive’ sensors and can flex and adapt in a similar manner to human arms during remote control. This allows to tightly couple those arms to an operator located far away by means of haptic (i.e. force-transmitting) interfaces. Their operation during the Interact experiment is very intuitive, allowing delicate and dexterous remote operations to take place across very long distances with the finest amount of force feedback to the operator despite the communication time delay. ROVER MOBILE PLATFORM The drivetrain and wheels for the Interact Centaur are a customized version of the remote controlled platform manufactured by AMBOT. This battery-powered, four-wheel-drive, fourwheel steering platform is weatherproof and gives the rover over 8 hours of run-time in challenging terrains.
→ AUGMENTED REALITY Virtual model overlays in real-time To provide extra support to the astronaut while driving the rover, an augmented reality (AR) overlay was developed. This allows for virtual markers such as predicted position markers to be displayed on top of the camera feed. The current rover position is shown with two yellow blocks in front of the wheels. 1. The current rover position is shown with two yellow blocks in front of the wheels. Similarly, white blocks indicate the predicted rover position. Before the rover moves the operator can see where the rover is going to end up. Green blocks are used to align the rover with the task board. 2. 3. 4. 5.
Page 1 and 2: → INTERACT SPACE EXPERIMENT Onlin
Page 3 and 4: → THE ASTRONAUT Astronaut Andreas
Page 5: → TECHNICAL FEATURES
Page 9 and 10: → SPACE TO GROUND Satellite commu
Page 11: telerobotics and haptics laboratory

→ INTERACT SPACE EXPERIMENT

Create successful ePaper yourself

Delete template?

Save as template?