Front-end Robotics Enabling Near-term Demonstration

The Front-end Robotics Enabling Near-term Demonstration is a DARPA project "aiming to create a fully autonomous docking capability for satellites that weren't built to be serviced", currently under testing at the U.S. Naval [Research Laboratory] Spacecraft Engineering Department.
The FREND mission concept uses robotic arms to position a grappling tool at a customer spacecraft structural hardpoint, and docks the two spacecraft together by first rigidizing this tool, then rigidizing the positioning robotics. FREND has been described as a robotic manipulator technology "that someday could potentially deliver fuel, provide repairs, or reposition satellites."