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Robonaut 2 on the International Space Station: Status Update and Preparations for IVA Mobility
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Author and Affiliation:
Ahlstrom, Thomas D.(NASA Johnson Space Center, Houston, TX, United States);
Diftler, Myron E.(NASA Johnson Space Center, Houston, TX, United States);
Berka, Reginald B.(NASA Johnson Space Center, Houston, TX, United States);
Badger, Julia M.(NASA Johnson Space Center, Houston, TX, United States);
Yayathi, Sandeep(NASA Johnson Space Center, Houston, TX, United States);
Curtis, Andrew W.(Oceaneering Space Systems, Houston, TX, United States);
Joyce, Charles A.(Oceaneering Space Systems, Houston, TX, United States)
Abstract: Robotics engineers, ground controllers and International Space Station (ISS) crew have been running successful experiments using Robonaut 2 (R2) on-board the ISS for more than a year. This humanoid upper body robot continues to expand its list of achievements and its capabilities to safely demonstrate maintenance and servicing tasks while working alongside human crewmembers. The next phase of the ISS R2 project will transition from a stationary Intra Vehicular Activity (IVA) upper body using a power/data umbilical, to an IVA mobile system with legs for repositioning, a battery backpack power supply, and wireless communications. These upgrades will enable the R2 team to evaluate hardware performance and to develop additional control algorithms and control verification techniques with R2 inside the ISS in preparation for the Extra Vehicular Activity (EVA) phase of R2 operations. As R2 becomes more capable in assisting with maintenance tasks, with minimal supervision, including repositioning itself to different work sites, the ISS crew will be burdened with fewer maintenance chores, leaving them more time to conduct other activities. R2's developers at the Johnson Space Center (JSC) are preparing the R2 IVA mobility hardware and software upgrades for delivery to the ISS in late 2013. This paper summarizes R2 ISS achievements to date, briefly describes the R2 IVA mobility upgrades, and discusses the R2 IVA mobility objectives and plans.
Publication Date: Sep 10, 2013
Document ID:
20140000957
(Acquired Feb 27, 2014)
Subject Category: CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS
Report/Patent Number: JSC-CN-29226
Document Type: Conference Paper
Meeting Information: AIAA Space 2013 Conference; 10-12 Sep. 2013; San Diego, CA; United States
Meeting Sponsor: American Inst. of Aeronautics and Astronautics; Reston, VA, United States
Financial Sponsor: NASA Johnson Space Center; Houston, TX, United States
Description: 14p; In English; Original contains color illustrations
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright; Distribution as joint owner in the copyright
NASA Terms: EXTRAVEHICULAR ACTIVITY; INTERNATIONAL SPACE STATION; MAINTENANCE; MOBILITY; ROBOTICS; ROBOTS; SPACECREWS; WIRELESS COMMUNICATION
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