A Brief History of DLR's Space Telerobotics and Force-Feedback Teleoperation

The DLR's Institute of Robotics and Mechatronics enjoys a unique history in space telerobotics that begins in 1993 with ROTEX, the first space telerobotics mission in history [1], and has been continuing to pave the way towards space telerobotics, on-orbit servicing and planetary exploration until the present. This paper reviews DLR's major telerobotics break-throughs during the last ten years, describing in particular requirements for space telerobotics, main mission challenges and robot control methods to allow one of the oldest yet still cutting-edge DLR's robotics vision: To extend the human arm into space, that is, space telepresence. Our work has been massively inspired by the pioneering work of Tony Bejczy and his co-workers.