Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in SpaceSmart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA tasks include environmental monitoring surveys (radiation, sound levels, etc.), inventory, and mobile camera work. In this paper, we first discuss the motivation for free- flying space robots. We then describe the development of the Smart SPHERES prototype, including avionics, software, and data communications. Finally, we present results of initial flight tests on-board the ISS.
Document ID
20160006695
Acquisition Source
Ames Research Center
Document Type
Presentation
Authors
Fong, Terrence (NASA Ames Research Center Moffett Field, CA, United States)
Micire, Mark J. (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Morse, Ted (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Park, Eric (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Provencher, Chris (Stinger Ghaffarian Technologies, Inc. Moffett Field, CA, United States)
Date Acquired
May 27, 2016
Publication Date
September 10, 2013
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
AIAA Paper 2013-5338ARC-E-DAA-TN11289-2
Meeting Information
Meeting: AIAA Space 2013 Conference and Exposition
Location: San Diego, CA
Country: United States
Start Date: September 10, 2013
End Date: September 12, 2013
Sponsors: American Inst. of Aeronautics and Astronautics