xWalker - Enhanced Inspection and Manipulation for Lunar Assembly

Motiv Space Systems proposes a novel robotic system that is intended to perform assembly, outfitting, and inspection behaviors in space environments. 7 Degree-of-Freedom (DOF) space rated manipulators that perform these behaviors do not currently exist in flight-qualified packages, so Motiv aims to extend the capabilities of current product offerings, augment them, and develop the requisite software to fill the technology gap. xWalker is comprised of three 7-DOF robotic manipulators and a central chassis that integrates vision, augmented by Motiv#39;s Cryogenic Focus Mechanism (CFM) inspection, and computing functions. To maximize the potential of the system, xWalker has integral mobility capabilities, which allows assembly, outfitting, and inspection behaviors to occur across a broad landscape. The system heavily leverages Motivrsquo;s prior experience and offers a seamless path to flight for critical elements, through the application of the xLink robotic arm product line and the CFM, which was developed under a SBIR Phase II effort. Given the significant investments that were made to mature these system elements, Motiv is well suited to perform system integration and software development and will quickly demonstrate a subset of possible system behaviors through a series of ground-based demonstrations. The demonstrations will leverage existing simulation tools in addition to available hardware and testbeds. This approach allows Motiv to focus on the refinement of xWalkerrsquo;s behaviors and capabilities, rather than developing new hardware elements. This not only matures the Technology Readiness Level (TRL), but it further enhances Motivrsquo;s robotics suite by integrating and augmenting core technologies, which will benefit future productization of the xWalker system and its elements.