1. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-1 Robotic Assembly and Maintenance of Space Solar Power Facilities Red Whittaker The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213 red@ri.cmu.edu

2. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-2 VisionVision SSP is a compelling motivation for a robotic workforce decades of operational life in high orbit extensive scale and repeating topology fragile and flexible structures repetitive construction and maintenance tasks Robots are an enabling technology for SSP join structural elements, make electrical connections, replace electronics modules, perform inspections,… provide full life cycle robotic presence Walking sticks are favored over fixed and free flying robots free-flyers expend propellant and incur docking risks fixed manipulators require base structure, vast length and impart large base reaction forces walking sticks are an unexplored technology

3. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-3 Heritage Systems & Technologies Self Mobile Space Manipulator node walker adaptive control visual tracking gravity compensation

4. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-4 Heritage Systems & Technologies Ambler and Dante walking robots gait planning closed kinematic chain control force regulation task control

5. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-5 Heritage Systems & Technologies RWV and Pioneer worksystems mobile manipulation tooling task operations

6. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-6 Skyworker - Walking Stick Assembles and maintains SSP facilities Grasps payloads and connects to other Skyworkers “Walks” by successive attachment to SSP backbone Steps softly and accommodates flexible structures

7. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-7

8. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-8

9. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-9 9-Month Objectives Demonstrate SSP relevant AIM tasks using robotics –carry and handle materials –mate mechanical and electrical components –inspect surfaces, structure and modules Emulate prospective SSP AIM robots and tasks –explore alternative Skyworker designs and derive optimal robot configuration –simulate Skyworker capabilities beyond those physically demonstrated –investigate alternative task approaches

10. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-10 Project Schedule Configuration Analysis & Design 02496 month CDR PDR Skyworker Development Robot Tests & Exercises Capability Studies Skyworker Emulator Development Demonstration

11. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-11 Robot Demonstrator Mobility on representative SSP structures –attachment to structural elements –gait and motion control on flexible structures –threading between and wrapping around elements Manipulation of representative SSP components –grasping, carrying and docking of objects & tools –manipulation force regulation Goals –understand the robot’s interaction with SSP structures –verify robot configuration task sequencing human interfaces automated inspection

12. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-12 Robot Emulator Quantify energy efficiency, speed, accuracy,… Explore alternative approaches to tasks –cooperating robots (pairs, triples, …) –individuals linked together in chains (parallel, serial) Model automation technologies –motion sequencing, perception, safeguarding –advanced task automation –automated inspection Goals –plug ‘n play compatibility with robot demonstrator –variable speed (real-time ±) operation –faithful representation of physics

13. The Next Step SPACE ROBOTICS INITIATIVE TIM990713-13 Process Map mechatronics sensors mechanicals electronics control -mobility -manipulation automation -operations -tasks emulation kinetics dynamics planning -gait -grasp SSP facility mockup extent flexibility geometry demonstration tools & payloads gravity compensation configuration task analysis robot kinematics