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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'sdoi:10.1109/icra.2011.5979830 dblp:conf/icra/DiftlerMARBSALYPHPSA11 fatcat:bqedvu4tgfhmbe7iz4sqof4dfe