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

• URL: http://arxiv.org/abs/2512.23153v1
• Date: Mon, 29 Dec 2025 02:36:05 GMT
• Title: Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot
• Abstract summary: This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator)<n>We focus on the robot's transportation capabilities, simulating its motion planning in 3D space.<n>The actual motion execution was tested with a prototype on a 2D table to mimic a microgravity environment.
• Score: 2.655543840694689
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• 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.

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