Abstract
Teleoperated robotics will be an essential tool to support upcoming lunar exploration and in-situ resource utilisation activities. However, the
communication delays between Earth and the Moon makes operating these robots extremely challenging. Model-mediated teleoperation (MMT) is a method of controlling these remote systems in perceived real-time, via a simulation, but is dependent on the accuracy of its model. In this work, a computationally efficient model of lunar regolith was implemented in a MMT system. The behaviour of the virtual model was compared with its physical equivalent during manipulation tasks. The model predicted the outcome of a regolith simulant scooping task with sufficient accuracy to be considered effective and trustworthy 100% and 92.5% of the time, respectively. Pouring actions were
less accurate, but trustworthiness and effectiveness can still be ensured by restricting the orientation of the end effector whilst carrying simulant material. Simulated haptic interactions were representative of the real-world during simple, linear tasks (pressing and dragging), but not during more complex
motions. This simulation could be adapted to account for reduced gravity, to form a delay-robust lunar MMT system, or to build operators’ trust in the system by familiarising themselves in a low-risk virtual world.
communication delays between Earth and the Moon makes operating these robots extremely challenging. Model-mediated teleoperation (MMT) is a method of controlling these remote systems in perceived real-time, via a simulation, but is dependent on the accuracy of its model. In this work, a computationally efficient model of lunar regolith was implemented in a MMT system. The behaviour of the virtual model was compared with its physical equivalent during manipulation tasks. The model predicted the outcome of a regolith simulant scooping task with sufficient accuracy to be considered effective and trustworthy 100% and 92.5% of the time, respectively. Pouring actions were
less accurate, but trustworthiness and effectiveness can still be ensured by restricting the orientation of the end effector whilst carrying simulant material. Simulated haptic interactions were representative of the real-world during simple, linear tasks (pressing and dragging), but not during more complex
motions. This simulation could be adapted to account for reduced gravity, to form a delay-robust lunar MMT system, or to build operators’ trust in the system by familiarising themselves in a low-risk virtual world.
Original language | English |
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Title of host publication | 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) |
Place of Publication | Abu Dhabi, UAE |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Publication status | Accepted/In press - 30 Jun 2024 |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems.: The next generation of sustainable robotics - ADNEC, Abu Dhabi, United Arab Emirates Duration: 14 Oct 2024 → 18 Oct 2024 https://iros2024-abudhabi.org/ |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems. |
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Country/Territory | United Arab Emirates |
City | Abu Dhabi |
Period | 14/10/24 → 18/10/24 |
Internet address |
Keywords
- Teleoperation
- Lunar Regolith
- Modelling & Simulation
- Model Mediated Teleoperation
- Trustworthiness
- Haptics
- In-situ resource utilisation