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Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot

Seiko Piotr Yamaguchi, Kentaro Uno, Yasumaru Fujii, Masazumi Imai, Kazuki Takada, Taku Okawara, Kazuya Yoshida

TL;DR

The paper addresses the feasibility of autonomous operation for a multi-limbed intra-vehicular robot (MLIVR) to assist ISS crew with cargo handling and task preparation. It combines 3D simulations (ClimbLab) for path, foothold, and gait planning with a ground-based two-leg prototype to validate translation along seat-tracks using image-based visual servoing. Results demonstrate the feasibility of autonomous translation with minimal human input, and the study outlines a clear pathway toward integration with ISS infrastructure through the PORTRS program. The work has practical implications for reducing crew workload and enhancing operational efficiency on the ISS, with planned extensions to manipulation, obstacle awareness, and in-orbit power management for future deployments in space habitats such as the Gateway.

Abstract

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.

Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot

TL;DR

The paper addresses the feasibility of autonomous operation for a multi-limbed intra-vehicular robot (MLIVR) to assist ISS crew with cargo handling and task preparation. It combines 3D simulations (ClimbLab) for path, foothold, and gait planning with a ground-based two-leg prototype to validate translation along seat-tracks using image-based visual servoing. Results demonstrate the feasibility of autonomous translation with minimal human input, and the study outlines a clear pathway toward integration with ISS infrastructure through the PORTRS program. The work has practical implications for reducing crew workload and enhancing operational efficiency on the ISS, with planned extensions to manipulation, obstacle awareness, and in-orbit power management for future deployments in space habitats such as the Gateway.

Abstract

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.
Paper Structure (14 sections, 1 equation, 7 figures, 1 table)

This paper contains 14 sections, 1 equation, 7 figures, 1 table.

Table of Contents

  1. INTRODUCTION
  2. Background
  3. Related works
  4. Objectives and Contributions
  5. APPROACH
  6. Desired Operation
  7. Evaluation method
  8. MULTI-LIMBED INTRA VEHICULAR ROBOT
  9. Hardware prototype
  10. Software system
  11. Validation
  12. Planner - Simulations
  13. Motion Execution - Ground Testing
  14. CONCLUSIONS AND FUTURE DIRECTIONS

Figures (7)

  • Figure 1: The Multi-Limbed Intra-Vehicular Robot (MLIVR) dedicated to assisting astronauts with routine tasks, such as cargo handling and task preparations. The robot moves by grappling ISS pre-existing seat-track interfaces.
  • Figure 2: Concept of operation: preliminary testing to demonstrate a real operation from the ground to the space station © JAXA/Tohoku Univ. Space Robotics Lab.
  • Figure 3: Concept of the autonomous translation of the multi-limbed intra-vehicular robot operation.
  • Figure 4: Prototype of the intra-vehicular robot (top) and the concept of the rail-grasping locomotion and cargo handling within the interior of the space station. The robot is designed to be foldable, allowing it to fit into a soft bag for shipment and minimize space impact in the ISS.
  • Figure 5: Simulated path and foothold planner (top) and the snapshots of the dynamic simulation of the MLIVR in our simulation platform: ClimbLabuno2021climblab (bottom). Graph-based planner solves the shortest feasible path of the robot body (pink path) and the foothold of each limb (green and orange path). Based on the simulation joint motion plan (joint angles or torque) can be generated.
  • ...and 2 more figures