Creating robots to build
structures in space
In-space assembly by robots can transform how structures are
built in space, enabling larger habitats, space telescopes, col-
located Earth science instruments, and backbones for scientific
and commercial use. Assistant Professor Komendera, director of
the Field and Space Experimental Robotics Laboratory, has led
research in ISA as a NASA researcher and as assistant professor.
In August 2019, NASA awarded a two-year, $2,500,000 Early
Career Initiative grant to Langley Research Center, Virginia Tech,
and Honeybee Robotics, for “Assemblers: A modular and recon-
figurable manipulation system for autonomous in-space assem-
bly.” The project will apply advances in machine learning, control
theory, and state estimation to expand concepts pioneered by
Komendera and others at NASA. Assemblers will develop and
demonstrate a lightweight, highly stiff assembly manipulation
system consisting of stacked Stewart platforms, and a multi-
agent task management system to manage in-space and surface
construction tasks. Assemblers will be a modular architecture
featuring interchangeable end-effectors for the multiple tasks
required to construct complex space systems. Assemblers will
also implement methods for error detection and correction using
machine learning and autonomous decision-making.
Erik
Komendera
Assistant
Professor
Research
Focus:
Autonomous
assembly and
construction;
Space robotics;
Field robotics;
and Perception;
Robotics to improve quality of life
Alexander
Leonessa
Professor
Research
Focus:
Control theory
and robotics;
Autonomous
ground, aerial,
surface, and
underwater ve-
hicles; Rehabili-
tation robotics,
brain computer
interfaces, and
sensory-motor
neuroprosthesis Dr. Leonessa’s research focuses on the design, control and validation of robotic solu-
tions to improve the quality of life of people with disabilities. His research spans from
functional electrical stimulation to help people with paralysis, to prosthetics design,
and brain computer stimulation. Over the last few years his research has mainly
focused on the design of exoskeletons to aid farmers, manufacturing workers, first
responders, and people with spinal cord injuries to regain the ability to complete their
daily tasks.
Revised and Corrected, Nov. 2019 15