This paper presents an intelligent system health monitoring technique for a humanoid robot, Robonaut, which was developed at JSC to be used in space. Robonaut's lower level controller publishes sensor information through NDDS, network middleware, and Self Agent analyzes the data to monitor the status of the robot. A hierarchical system health monitoring (SHM) technique is developed. As a base level of the SHM, a nonlinear model-based observer and a fuzzy logic framework are developed to detect

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... aults and identify the fault source in the robot. He has published over 150 research papers, a book, and book chapters in the fields of intelligent systems, intelligent robotics, human-robot interfaces, behavior learning, computational intelligence and cognitive robotics. He directs research projects at the CIS in humanoid robots, computational intelligence, multiagent-based robot control, automatic behavior generation, and brain-machine interfaces. Dr. Kawamura is a Fellow of IEEE. He is a member of the editorial board of Applied Intelligence, International Journal of Humanoid Robotics, and International Journal of Human-Friendly Welfare Robotic Systems. Rob Ambrose, Ph.D., is the Project Manager for Robonaut. His publications topics include robot design, control, space environmental modeling, actuator development, kinematics, kinetics, interactive design software and non-linear optimism. He has built intelligent robotic systems for space, microelectronics, nuclear and agricultural applications. Bill Bluethmann, Ph.D. is currently employed by Hernandez Engineering, Inc. at the NASA Johnson Space Center and serves as Chief Software Engineer on the Robonaut project. His research interest includes manipulation, robotic control and task-level autonomy. Ken Alder currently works on Robonaut's controllers for Hernandez Engineering, Inc. at NASA Johnson Space Center. He has a BSME degree from Texas A&M.