Descriptions, deployments, tooling, and configuration files for the Phoebe Bridgeback dual arm mobile manipulation robot platform, part of the iMETRO Facility at NASA's Johnson Space Center. This project is intended for use in one of ER4's managed workspaces (such as the in the phoebe_bridgeback_ws).
The robot includes:
- 2x UR10e serial manipulators with Robotiq Hand-E Gripper and wrist mounted RealSense RGB-D cameras
- 2x Ewellix Lifts
- A Clearpath Ridgeback mobile base
The instructions to run the whole phoebe environment can be found in the (Docker workspace)[https://github.com/NASA-JSC-Robotics/phoebe_bridgeback_ws].
This project falls under the purview of the iMETRO project. If you use this in your own work, please cite the following paper:
@INPROCEEDINGS{imetro-facility-2025,
author={Dunkelberger, Nathan and Sheetz, Emily and Rainen, Connor and Graf, Jodi and Hart, Nikki and Zemler, Emma and Azimi, Shaun},
booktitle={2025 22nd International Conference on Ubiquitous Robots (UR)},
title={Design of the iMETRO Facility: A Platform for Intravehicular Space Robotics Research},
year={2025},
volume={},
number={},
pages={390-397},
keywords={NASA;Moon;Seals;Maintenance engineering;Maintenance;Robots;Standards;Open source software;Testing;Logistics},
doi={10.1109/UR65550.2025.11077983}}