H-II Transfer Vehicle
Other vehicles berth instead of docking. The Japanese H-II Transfer Vehicle parks itself in progressively closer orbits to the station, and then awaits 'approach' commands from the crew, until it is close enough for a robotic arm to grapple and berth the vehicle to the USOS. Berthed craft can transfer International Standard Payload Racks. Japanese spacecraft berth for one to two months. The berthing Cygnus and SpaceX Dragon were contracted to fly cargo to the station under the phase 1 of the Commercial Resupply Services program.