Robonaut 2 – The First Humanoid Robot in Space
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 early 2011 and undergo initial testing by mid-year. 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 mechatronic design results in a more compact and robust distributed control system with a fraction 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.
M.A. Diftler F.A. Permenter B.K. Hargrave R. Platt R.T. Savely R.O. Ambrose J.S. Mehling M.E. Abdallah N.A. Radford L.B. Bridgwater A.M. Sanders R.S. Askew D.M. Linn J.D. Yamokoski
NASA/JSC,Houston,Texas Oceaneering Space Systems,Houston,Texas General Motors,Warren,Michigan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2178-2183
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）