Robonaut 2, or R2, arrived on the International Space Station (ISS) in February 2011 and is currently being tested in preparation for its role initially as an Intra-Vehicular Activity (IVA) tool and eventually as a robot that performs Extra-Vehicular Activities (EVA). Robonaut 2, is a state of the art dexterous anthropomorphic robotic torso designed for assisting astronauts. R2 features increased force sensing, greater range of motion, higher bandwidth, and improved dexterity over its predecessor. Robonaut 2 is unique in its ability to safely allow humans in its workspace and to perform significant tasks in a workspace designed for humans. The current operational paradigm involves either the crew or the ground control team running semi-autonomous scripts on the robot as both the astronaut and the ground team monitor R2 and the data it produces. While this is appropriate for the check-out phase of operations, the future plans for R2 will stress the current operational framework. The approach described here will outline a suite of operational modes that will be developed for Robonaut 2. These operational modes include teleoperation, shared control, directed autonomy, and supervised autonomy, and they cover a spectrum of human involvement in controlling R2.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Advancing Robotic Control for Space Exploration Using Robonaut 2


    Beteiligte:
    J. Badger (Autor:in) / M. Diftler (Autor:in) / S. Hart (Autor:in) / C. Joyce (Autor:in)

    Erscheinungsdatum :

    2012


    Format / Umfang :

    4 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Advancing Robotic Control for Space Exploration Using Robonaut 2

    Badger, Julia / Diftler, Myron / Hart, Stephen et al. | NTRS | 2012


    Robonaut: A Robotic Astronaut Assistant

    R. O. Ambrose / M. A. Diftler | NTIS | 2001


    Robonaut: A Robotic Astronaut Assistant

    Ambrose, Robert O. / Diftler, Myron A. | NTRS | 2001


    Robonaut. Robosim

    Christianson, David | NTRS | 2004


    Robonaut to join Space Station crew

    Kremer, Ken | Online Contents | 2011