Robonaut 2 - The first humanoid robot in space

Abstract

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.

The Human Exploration Telerobotics project: Objectives, approach, and testing

“…Robonaut 2 (R2) is a two-arm humanoid robot (Figure 3) that is the latest result of a long-term NASA effort to develop robots that have manipulation capabilities similar to suited astronauts [13]. In the future, dexterous robots will be able to make use of astronaut hand tools without modification and to perform EVA work to help reduce the amount of consumables used during human missions.…”

“…and numerous distributed sensors (cameras, 3D lidar, force/torque, etc). R2 uses a dualpriority impedance controller to manage forces in both operational and joint space [13]. Each SPHERE is fully self-contained with propulsion, power, computing and navigation equipment.…”

Cyber-Physical Challenges for Space Systems

“…Multimanipulator systems such as the Ranger telerobotic vehicle tested in neutral buoyancy simulation [28] can provide capabilities such as on-orbit assembly [29] as well as satellite servicing [30], ultimately enabling upgrades and repairs that extend the lifetime of existing equipment rather than launching new spacecraft while the old craft become "space junk". Manipulator systems are becoming increasingly sophisticated; in fact one humanoid robot, Robonaut 2 [31], is present on the ISS, serving as a semi-autonomous assistant to the astronaut flight crew. On planetary surfaces, manipulation can be used to deploy sensors, obtain samples, and carry manipulate payloads (e.g., cameras on a mast) with a precision not easy to achieve strictly with a mobile base.…”

The computing and communication architecture of the DLR Hand Arm System

“…DLR's Justin [11] is a heterogeneous platform with 4 PCs, Motion Controllers, SERCOS, EtherCat, Gigabit Ethernet, and CAN. NASA's Robonaut 2 [12] consists of distributed FPGA-PowerPC based motor controllers that are connected by a custom communication to a central Compact-PCI PowerPC based host.…”