发表机构
University of California, Berkeley; California Institute of Technology; National University of Singapore（加州大学伯克利分校; 加州理工学院; 新加坡国立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种用于Astrobee自由飞行器的可部署四指夹爪载荷及双臂遥操作方案，通过VR界面控制17自由度，并在零重力模拟器中验证了货物搬运任务的有效性。
AI 中文摘要
本文介绍了一种双臂遥操作流水线，以及一种用于舱内自由飞行器的可部署四指载荷的概念设计。低地球轨道（LEO）的未来栖息地将需要系统在载人和无人期间执行诸如货物搬运和维护之类的日常任务。该夹爪载荷通过线性滑轨系统上的四个独立驱动手指提供17个操控自由度（DoF）。为了控制它，虚拟现实（VR）设备界面将地面操作员的手部运动映射到手指对，将其分离映射到滑轨，并将常见的手腕运动映射到Astrobee的平移。我们展示了在基于MuJoCo的自定义零重力国际空间站（ISS）模拟器中，通过十次重复的刚性ISS货物转移袋（CTB）运输试验，对Astrobee进行遥操作的初步结果。我们测量了任务成功率、连续接触保持、完成时间和货物运动。
英文摘要
This article presents a bimanual teleoperation pipeline and conceptual design of a deployable four-finger payload for intra-vehicular free-flyers. Future habitats in low-Earth orbit (LEO) will require systems to perform mundane tasks like cargo handling and maintenance during crewed and uncrewed periods. The gripper payload provides 17 manipulation degrees-of-freedom (DoF) through four independently actuated fingers on a linear rail system. To control it, a virtual reality (VR) device interface maps the human ground operator's hand motions to the finger pairs, their separation to the rail, and common wrist motion to Astrobee translation. We present the preliminary results of teleoperating Astrobee in a custom zero-gravity MuJoCo-based International Space Station (ISS) simulator through ten repeated trials of transporting a rigid ISS Cargo Transfer Bag (CTB). We measure task success, continuous contact retention, completion time, and cargo motion.
Comments4 pages, 3 figures
