Towards incremental autonomy framework for on-orbit vision-based grasping

BARAD, Kuldeep Rambhai; MARTINEZ LUNA, Carol; Dentler, Jan; OLIVARES MENDEZ, Miguel Angel

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Towards incremental autonomy framework for on-orbit vision-based grasping

BARAD, Kuldeep Rambhai; MARTINEZ LUNA, Carol; Dentler, Jan et al.

2021 • In Proceedings of the International Astronautical Congress, IAC-2021

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Keywords :

OSAM; Autonomy, On-orbit Robotics, Perception; , Manipulation, Learning

Abstract :

[en] This work presents a software-oriented autonomy framework that enables the incremental development of high robotic autonomy. The autonomy infrastructure in space applications is often cost-driven and built for a narrow time/complexity domain. In domains like On-orbit Servicing Assembly and Manufacturing (OSAM), this prevents scalability and generalizability, motivating a more consistent approach for the incremental development of robotic autonomy. For this purpose, the problem of vision-based grasping is described as a building block for high autonomy of dexterous space robots. Subsequently, the need for a framework is highlighted to enable bottom-up development of general autonomy with vision-based grasping as the starting point. The preliminary framework presented here comprises three components. First, an autonomy level classification provides a clear description of the autonomous behavior of the system. The stack abstraction provides a general classification of the development layers. Finally, the generic execution architecture condenses the flow of translating a high-level task description into real-world sense-planact routines. Overall, this work lays down foundational elements towards development of general robotic autonomy for scalablity in space application domains like OSAM.

Disciplines :

Aerospace & aeronautics engineering

Author, co-author :

BARAD, Kuldeep Rambhai ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics

MARTINEZ LUNA, Carol ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics

Dentler, Jan; Redwire Space Europe > Robotics

OLIVARES MENDEZ, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics

External co-authors :

Language :

English

Title :

Towards incremental autonomy framework for on-orbit vision-based grasping

Publication date :

29 October 2021

Event name :

International Astronautical Congress

Event organizer :

International Astronautical Federation

Event place :

Dubai, United Arab Emirates

Event date :

24-10-2021 to 29-10-2021

Audience :

International

Main work title :

Proceedings of the International Astronautical Congress, IAC-2021

FnR Project :

FNR15799985 - Modular Vision For Dynamic Grasping Of Unknown Resident Space Objects, 2021 (01/04/2021-15/01/2025) - Kuldeep Rambhai Barad

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since 07 January 2022

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