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A key factor in the economic efficiency of satellites is their availabilityin orbit. Replacing standardized building blocks, such as empty fuel tanks oroutdated electronic modules, could greatly extend the satellites' lifetime.This, however, requires flexible robots that can locomote on the surface ofthese satellites for optimal accessibility and manipulation. This paperintroduces ReCoBot, a 7-axis walking space manipulator for locomotion andmanipulation. The robot can connect to compatible structures with its symmetricends and provides interfaces for manual teleoperation and motion planning witha constantly changing base and tip. We build on open-source robotics softwareand easily available components to evaluate the overall concept with an earlystage demonstrator. The proposed manipulator has a length of 1.20 m and aweight of 10.4 kg and successfully locomotes over a satellite mockup in our labenvironment.

A Walking Space Robot for On-Orbit Satellite Servicing: The ReCoBot