Enhancing Autonomous Manipulator Control with Human-in-loop for Uncertain Assembly Environments

TL;DR

This paper introduces a human-in-the-loop control system for autonomous robotic manipulation in uncertain lunar environments, improving deployment accuracy and robustness through real-time feedback, adaptive control, and digital twin simulation.

Contribution

It presents a novel integration of human decision-making with autonomous control for space robotics, enhancing reliability and efficiency in challenging conditions.

Findings

Successful simulation validation under lunar-like conditions

Improved deployment accuracy with human intervention

Enhanced system robustness through digital twin feedback

Abstract

This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human decision-making with autonomous robotic functions, the research improves task reliability and efficiency for space applications. The key task addressed is the autonomous deployment of flexible solar panels using an extendable ladder-like structure and a robotic manipulator with real-time feedback for precision. The manipulator relays position and force-torque data, enabling dynamic error detection and adaptive control during deployment. To mitigate the effects of sinkage, variable payload, and low-lighting conditions, efficient motion planning strategies are employed, supplemented by human control that allows operators to intervene in ambiguous scenarios. Digital twin simulation enhances system robustness by enabling continuous feedback, iterative task refinement, and seamless integration with the deployment pipeline. The system has been tested to validate its performance in simulated lunar conditions and ensure reliability in extreme lighting, variable terrain, changing payloads, and sensor limitations.