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Author:Pfeiffer, Tilman
Title:Pointing device for an astronaut robot team on a planetary exploration mission
Publication type:Master's thesis
Publication year:2012
Pages:(10) + 43 s. + liitt. 5      Language:   eng
Department/School:Automaatio- ja systeemitekniikan laitos
Main subject:Automaatiotekniikka   (AS-84)
Supervisor:Halme, Aarne ; Gustafsson, Thomas
Instructor:Terho, Sami
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Reading digital theses in the closed network of the Aalto University Harald Herlin Learning Centre

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Location:P1 Ark Aalto  5413   | Archive
Keywords:extravehicular activity
human-robot collaboration
human-robot-interface
planetary mission
robotic assistant
Abstract (eng): This thesis discusses the need of human robot interface implementations specialized on the usage for astronaut robot collaboration during an extravehicular activity on a planetary mission.
As astronauts will always wear their space suit outside the vehicles the idea is to implement sensors on the space suit which are used by the robot.
The thesis proposes a simple pointing device using an IMU on the astronaut's arm for giving arbitrary locations to the robotic assistant in order to be able to command it to not previously known positions.
Experiments simulating typical extravehicular activities show that the proposed setup can work, but that the IMU might not be the best sensor for this interface because of the constantly drifting yaw angle.
Comparing the implemented pointing device to other setups using for example arm joint angle measurements or head and eye tracking could reveal which one is best suited for pointing.
ED:2012-10-01
INSSI record number: 45325
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