Design and Testing of Torveastro: An Outer Space Service Robot.

Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, re-pairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and completed over the past two decades. There have been several successful manned on-orbit service missions, but unmanned service missions have not yet been conducted. Robotic maintenance continues to be an important area of investigation with numerous technical challenges. This report outlines the design and initial testing of Torveastro, an astronaut service robot. The specifications are provided concurrently with the design and simulation. In comparison with the simulation results, preliminary tests demonstrated promising behavior for future development. [ABSTRACT FROM AUTHOR]