Jacob Robinson April 24, 2013

Robonaut – Space Station Humanoid  First humanoid robot in space (January 2011)  Designed to have capabilities similar to space station crew  Work space  Joint rates/velocities  Novel arms and fingers design

Specifications  Height: 40 inches  Weight: 330 lbs  Load Capacity: 20 lbs  Power: Tethered or battery operated  DOF: 42 (Arm: 7 X 2; Hand 12 X 2; Neck 3; Waist 1)  Material: Mostly Aluminum with steel  Cost: $2.5 million  Sensors: More than 350 sensors, including custom 6-axis load cells in the hand, four cameras behind visor, and an infrared camera in the mouth for depth perception.  Actuators: 54 servomotors

Arms and Hands  Arms  m/watch?v=y- j4dixQQmI m/watch?v=y- j4dixQQmI  Compliance and Impedance controllers  Hands  m/watch?v=qqun_fw0 DnA m/watch?v=qqun_fw0 DnA  Tendons used to actuate fingers

Limitations  Cost: $2.5 million  Must be mounted in position (no legs yet)  Relatively new to the space station and application is still being determined.

Impact NASARobotics Industry  Save astronauts time and NASA’s money  Help with more dangerous and tiring space station jobs  Advancement in ergonomic robots  New technology in human- robot interaction (compliant actuators)  Advancements in robot dexterity and range of abilities