Hierarchical Task Analysis of Human-Robot Collaboration Scenario in Space Station

Abstract

With the construction and development of China’s aerospace industry and the continuous expansion of new space missions, astronauts will face more and more space station operation tasks. Astronauts' extravehicular activity is an important part of the key technical verification in the assembly and construction stage of the space station. In this paper, we propose a task process analysis and optimization method suitable for extravehicular human-robot collaboration tasks. This method based on the hierarchical task analysis method, decomposes the operation process into the event layer, the operation layer, the operation unit layer and the basic therbligs layer, and classifies the minimum therbligs unit in the basic therbligs layer, summarizes the typical therbligs, forms a set of standardized operation processes. The method proposed in this study has formed a set of analysis software and has been verified in the real extravehicular mission, which lays a solid theoretical and practical foundation for the process design and planning of astronauts' extravehicular mission in the future.