Robonaut 2 - The first humanoid robot in space

M.A. Diftler, J.S. Mehling, M.E. Abdallah, N.A. Radford, L.B. Bridgwater, A.M. Sanders, R.S. Askew, D.M. Linn, J.D. Yamokoski, F.A. Permenter, B.K. Hargrave, R. Platt (+2 others)
2011 2011 IEEE International Conference on Robotics and Automation  
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
more » ... ntegrated 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.
doi:10.1109/icra.2011.5979830 dblp:conf/icra/DiftlerMARBSALYPHPSA11 fatcat:bqedvu4tgfhmbe7iz4sqof4dfe