{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:44:45Z","timestamp":1760233485670,"version":"build-2065373602"},"reference-count":37,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2021,1,22]],"date-time":"2021-01-22T00:00:00Z","timestamp":1611273600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>TORVEastro robot design is presented with a built prototype in LARM2 (Laboratory of Robot Mechatronics) for testing and characterizing its functionality for service in space stations. Several robot astronauts are designed with bulky human-like structures that cannot be convenient for outdoor space service in monitoring and maintenance of the external structures of orbital stations. The design features of TORVEastro robot are discussed with its peculiar mechanical design with 3 arm-legs as agile service robot astronaut. A lab prototype is used to test the operation performance and the feasibility of its peculiar design. The robot weighs 1 kg, and consists of a central torso, three identical three-degree of freedom (DoF) arm\u2013legs and one vision system. Test results are reported to discuss the operation efficiency in terms of motion characteristics and power consumption during lab experiments that nevertheless show the feasibility of the robot for outdoor space applications.<\/jats:p>","DOI":"10.3390\/robotics10010021","type":"journal-article","created":{"date-parts":[[2021,1,25]],"date-time":"2021-01-25T12:28:31Z","timestamp":1611577711000},"page":"21","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["An Experimental Characterization of TORVEastro, Cable-Driven Astronaut Robot"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5263-5284","authenticated-orcid":false,"given":"Francesco","family":"Samani","sequence":"first","affiliation":[{"name":"LARM2\u2014Laboratory of Robot Mechatronics, University of Rome Tor Vergata, 00133 Rome, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9388-4391","authenticated-orcid":false,"given":"Marco","family":"Ceccarelli","sequence":"additional","affiliation":[{"name":"LARM2\u2014Laboratory of Robot Mechatronics, University of Rome Tor Vergata, 00133 Rome, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2021,1,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"912","DOI":"10.1016\/j.actaastro.2009.03.064","article-title":"Robotic assembly and maintenance of future space stations based on the ISS mission operations experience","volume":"65","author":"Rembala","year":"2009","journal-title":"Acta Astronaut."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Ceccarelli, M. 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