Self-Reconfigurable Modular Robotic Manipulators for Space

This study aims at developing a new generation of
adaptable robotic manipulators that will be capable for changing its morphology through self-reconfiguration of its modular
arm/s and hand/s. This involves developing a modular design for the link-joint pairs for the arm with an interchangeable
and reconfigurable robotic compliant hand. Deep learning techniques will be used to train the robot manipulator to
undertake routine tasks in a semi/autonomous manner. The feasibility of the design will be tested, in a simulation
environment, for two use cases (i) for orbital assembly and maintenance of a large aperture space telescope (ii) robotic
mining of asteroids where the manipulator could be used for capturing a small asteroid or for deeper excavation of other
planetary bodies.