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Human-Centric Teaming in a Multi-Agent EVA Assembly Task
Technical Paper
2004-01-2485
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower. An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of human astronauts with the survivability and physical capabilities of highly dexterous space robots is proposed. A 1-g test featuring two NASA/DARPA Robonaut systems working side-by-side with a suited human subject is conducted to evaluate human-robot teaming strategies in the context of a simulated EVA assembly task based on the STS-61B ACCESS flight experiment.
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Citation
Rehnmark, F., Currie, N., Ambrose, R., and Culbert, C., "Human-Centric Teaming in a Multi-Agent EVA Assembly Task," SAE Technical Paper 2004-01-2485, 2004, https://doi.org/10.4271/2004-01-2485.Also In
References
- Geffre, Jim et al “Filled-Aperture Infrared (FAIR) Telescope Assembly,” Exploration Office Internal Report (NASA/JSC) Houston, Texas December 2001
- Aldridge, H. Bluethmann, W. Ambrose, R. O. Diftler, M. “Control Architecture for the Robonaut Space Humanoid,” Proceedings of the First IEEE-RAS International Conference on Humanoid Robots (Humanoids 2000) Cambridge, Massachusetts September 2000
- Ambrose, R. O. Culbert, C. Rehnmark, F. “An Experimental Investigation of Dexterous Robots Working with EVA Hardware,” Proceedings of AIAA Space 2001 Albuquerque, NM 2001
- Heard, Walter Watson, Judith “Results of the ACCESS Experiment,” Proceedings of the Space Construction Conference (NASA/LaRC) Hampton, Virginia August 1986