HERA: a reliable and safe space robot

The Hermes Robot Arm (HERA) is a robot that will support the Hermes Spaceplane in its primary mission: the servicing of the Columbus Free Flyer. The emphasis is on the way HERA deals with the uncertainties in its environment, which measures and devices are introduced to ensure reliability and safety, and how to make sure that the design will actually work. The main tasks for HERA concern the external servicing of the Columbus Free Flying Laboratory: exchange of supplies and equipment boxes, inspection of the laboratory outer surfaces, and providing support to astronauts performing extravehicular activities