In this paper we describe a distributed computational architecture and robotic system to accomplish autonomous space vehicle exterior inspection and teleoperated maintenance using an untethered hexapod for perpetual locomotion on a variety of common spacecraft exterior surfaces. Metrics are provided to support the performance improvement expected for this prototype system relative to conventional techniques applied to some common extravehicular activity (EVA) tasks. Comparison systems include human EVA, conventional robotic arms, and free-flying inspection nanosats. Novel techniques for microgravity legged locomotion are described which build upon demonstrations at JSC 1 , JPL, and CMU. 2 In addition, an innovative approach to autonomous inspection sensor data communication and processing for incorporation into Integrated Vehicle Health Management systems 3 is examined. Finally, the human element is addressed by our description of the supervision station as part of a system of systems with sliding autonomy 4 tailored to meet mission requirements with minimal recurring cost and crew workload for the AWIMR system.
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Lane et al. (2005) studied this question.
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