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Visual grasping with long delay time of a free floating object in orbit

1994; Elsevier BV; Volume: 27; Issue: 14 Linguagem: Inglês

10.1016/s1474-6670(17)47420-9

2589-3653

Ernst D. Dickmanns, Ch. Fagerer, Dirk Dickmanns,

Soft Robotics and Applications

In the US-German Spacelab mission D2 (April/May 1993) a new level of automation capabilities has been achieved with the ROTEX-‘freeflyer’-experiment of DLR. For the first time, a combined human/robotic task force on the ground succeeded in visually controlled tele-grasping of a free floating object on board the Space Shuttle Columbia within a working cell of the German Space-lab by a remotely controlled robot arm. The contributions of UniBwM in the fields of monocular motion-stereo vision, state prediction and fully automatic grasping under long delay times (5 to 7 seconds) are presented and discussed. The successful team jointly consisted of scientists from DLR and UniBwM for decision taking and remote manual control as well as a network of computers representing a robot specialist for visual motion interpretation and prediction including the expertise for delayed feedback, which is hard for humans.