In the vast expanse of space, where human presence is intermittent, robots are becoming indispensable for the construction, maintenance, and servicing of complex space systems. A recent study published in *Frontiers in Robotics and AI* (translated as “Frontiers in Robotics and Artificial Intelligence”) sheds light on a critical yet often overlooked aspect of these operations: the handling of flexible electrical cables, which are essential for powered space systems.
Amy Quartaro, a researcher at the FASER Lab in the Mechanical Engineering Department at Virginia Tech, has been tackling this challenge head-on. Her work focuses on deformable linear objects (DLOs), specifically cables, which have unique properties that make them difficult to manipulate robotically. Unlike rigid objects, cables have a non-zero bend equilibrium configuration, meaning they don’t just flop around randomly but maintain a specific shape when bent.
“Cables are a critical component of powered space systems, but they’re also one of the most challenging to work with,” Quartaro explains. “They can be unpredictable, and their flexibility makes them difficult to model and manipulate precisely.”
Quartaro’s research implements a model-based optimization approach to estimate cable configuration. This approach allows for a trade-off between model accuracy and computational complexity, a crucial consideration for real-time robotic operations. By observing 2D cable configurations, the model can be improved through parameter estimation, reducing prediction errors by an order of magnitude.
The implications of this research are significant for the energy sector, particularly for in-space construction and maintenance. As we look towards lunar outfitting and other long-duration space missions, the ability to robotically manipulate cables and other flexible objects will be vital. This technology could also have applications on Earth, such as in the maintenance of offshore wind farms or underwater cables, where human access is limited and robotic solutions are preferred.
“This work demonstrates some of the challenges present with robotic cable manipulation and puts forth a method for reducing the size of the state space of a cable payload,” Quartaro says. “It’s a step towards making these operations more efficient and reliable.”
The study not only highlights the complexities of outfitting and maintenance operations in space but also offers a promising method for overcoming these challenges. As we continue to push the boundaries of space exploration, research like Quartaro’s will be instrumental in ensuring that our robotic helpers can keep up with the demands of these ambitious missions.
In the broader context, this research could pave the way for more advanced robotic systems capable of handling a wider range of tasks in space and other challenging environments. It’s a testament to the power of model-based approaches in robotics and a step forward in our quest to make robotic manipulation more precise and reliable.