Thomas M. Roehr

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This paper describes the design and control methodology used for the development of a dual-arm manipulator as well as its deployment in a production scenario. Multi-modal and sensor-based manipulation strategies are used to guide the robot on its task to supervise and, when necessary, solve faulty situations in a production line. For that task the robot is(More)
The Moon has been a subject of interest of space agencies, being seen as a candidate to establish a permanent outpost in space [1]. However, in order to reach this goal with reasonable efforts, the utilization of local resources which are available on the Moon is an essential requirement. The access to water-ice is of main interest, since it would provide a(More)
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