Abstract-NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in late 2010 and undergo initial testing in early 2011. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth and improved dexterity. R2's integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model's ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people.
In December 2013, 16 teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive robotics competition partly inspired by the aftermath of the Fukushima Daiichi reactor incident. While the focus of the DRC Trials is to advance robotics for use in austere and inhospitable environments, the objectives of the DRC are to progress the areas of supervised autonomy and mobile manipulation for everyday robotics. NASA's Johnson Space Center led a team comprised of numerous partners to develop Valkyrie, NASA's first bipedal humanoid robot. Valkyrie is a 44 degree‐of‐freedom, series elastic actuator‐based robot that draws upon over 18 years of humanoid robotics design heritage. Valkyrie's application intent is aimed at not only responding to events like Fukushima, but also advancing human spaceflight endeavors in extraterrestrial planetary settings. This paper presents a brief system overview, detailing Valkyrie's mechatronic subsystems, followed by a summarization of the inverse kinematics‐based walking algorithm employed at the Trials. Next, the software and control architectures are highlighted along with a description of the operator interface tools. Finally, some closing remarks are given about the competition, and a vision of future work is provided.
AbstroetThe Johnson Space Center has developed a new mobile manipulation system with the combination of a Robonaut upper body mounted onto a Segway mobile base. The objective is b study a fluid and coordinated control of dexterous limbs on a mobile robot. The system has been demonstrated interacting with people, tools, and urban interfaces built for humans. Human interactions-have included manually exchanging objects with humans, following people, and tracking people with hand . held objects such as flashlights. Like other conflgurations of the Robonaut family, the upper body provides dexterity for using tools such as wire cutters, shovels, space flight gear, and handling flexible tethers and fabrics. The Segway base is a custom version called the Robotic Mobility Platform (RMP) built for DARPA, and provided to NASA for this collaborative effort. The RMP's active bahnce gives Robonaut a reladvely small footprint for its height, allowing it to pass through dwrs and elevators built for humans, and use wheelchair accessible ramps and lifts. Lessons learned from this development will be presented to improve the design of future mobile manipulation systems, and the Segway base provides mobility to Robonaut for Earth based testing. Kewords-Mobile, Mnnipulntion, Robonnut. Segwnjl, SpaceL~ 1.
The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our hypothesis is that peer-to-peer interaction can enable robots to collaborate in a competent, non-disruptive (i.e., natural) manner with users who have limited training, experience, or knowledge of robotics. Specifically, we believe that failures and limitations of autonomy (in planning, in execution, etc.) can be compensated for using human-robot interaction. In this paper, we present an overview of P2P-HRI, describe our development approach and discuss our evaluation methodology.
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