Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot
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arXiv
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| Autores principales: | , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866911343010906112 |
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| author | Yamaguchi, Seiko Piotr Uno, Kentaro Fujii, Yasumaru Imai, Masazumi Takada, Kazuki Okawara, Taku Yoshida, Kazuya |
| author_facet | Yamaguchi, Seiko Piotr Uno, Kentaro Fujii, Yasumaru Imai, Masazumi Takada, Kazuki Okawara, Taku Yoshida, Kazuya |
| contents | This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks on the International Space Station (ISS). Astronauts spend significant time on tasks such as preparation, close-out, and the collection and transportation of goods, reducing the time available for critical mission activities. Our study explores the potential for a mobile manipulator to support these operations, emphasizing the need for autonomous functionality to minimize crew and ground operator effort while enabling real-time task execution. We focused on the robot's transportation capabilities, simulating its motion planning in 3D space. The actual motion execution was tested with a prototype on a 2D table to mimic a microgravity environment. The results demonstrate the feasibility of performing these tasks with minimal human intervention, offering a promising solution to enhance operational efficiency on the ISS. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_23153 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot Yamaguchi, Seiko Piotr Uno, Kentaro Fujii, Yasumaru Imai, Masazumi Takada, Kazuki Okawara, Taku Yoshida, Kazuya Robotics This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks on the International Space Station (ISS). Astronauts spend significant time on tasks such as preparation, close-out, and the collection and transportation of goods, reducing the time available for critical mission activities. Our study explores the potential for a mobile manipulator to support these operations, emphasizing the need for autonomous functionality to minimize crew and ground operator effort while enabling real-time task execution. We focused on the robot's transportation capabilities, simulating its motion planning in 3D space. The actual motion execution was tested with a prototype on a 2D table to mimic a microgravity environment. The results demonstrate the feasibility of performing these tasks with minimal human intervention, offering a promising solution to enhance operational efficiency on the ISS. |
| title | Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.23153 |