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

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Abstract

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 Spacelab 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 discussed in detail.

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.

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Authors and Affiliations

  1. Fakultät für Luft-und Raumfahrttechnik, Institut für Systemdynamik, Germany

    C. Fagerer & Ernst D. Dickmanns

  2. Fakultät für Informatik, Institut 2, Germany

    Dirk Dickmanns

  3. Universität der Bundeswehr München (UniBwM), Werner-Heisenberg-Weg 39, 85577, Neubiberg, Germany

    C. Fagerer, Dirk Dickmanns & Ernst D. Dickmanns

Authors
  1. C. Fagerer
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  2. Dirk Dickmanns
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  3. Ernst D. Dickmanns
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Fagerer, C., Dickmanns, D. & Dickmanns, E.D. Visual grasping with long delay time of a free floating object in orbit. Auton Robot 1, 53–68 (1994). https://doi.org/10.1007/BF00735342

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  • DOI: https://doi.org/10.1007/BF00735342

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