1. 1 Robonaut: A Humanoid Robotic Assistant for On-Orbit and Planetary Missions Nicolaus Radford Automation, Robotics and Simulation Division NASA/Johnson Space Center nradford@ems.jsc.nasa.gov July 26, 2005

2. 2 NASA’s Reliance on Space Walks – Extra-Vehicular Activities (EVA) Make EVA’s More Productive Long Term Investment in EVA capabilities –Shuttle and Station –Numerous Satellites EVA roles –Contingency –High Dexterity Future Missions –Telescopes \ Platforms –Interplanetary Vehicles –Surface Operations STS-103 Astronaut Claude Nicollier works at a storage enclosure, using one of the Hubble power tools

3. 3 ROBONAUT Objective: Make EVAs more productive by developing a space robot with a dexterous capability approaching that of a suited Astronaut. Robonaut’s Mission: Astronaut’s Assistant (takes risks and burdens) Doctor/Nurse Minuteman: Robot on call Virtual surrogate to other worlds

4. 4 1998 1999 2000 2001 2002 2003 2004 Robonaut Development History 1998 –Subsystem development –Testing of hand mechanism 1999 –Single arm and neck integration –Simple teleoperation trials 2000 –Dual arm platform –Two-handed task trials 2001 –Waist and vision integration (Unit A) –Autonomous control development 2002 –Unit B buildup, deploy to WSC –Autonomous learning test 2003 –Unit B-Segway RMP integration –Multi-agent EVA team –Autonomous assistance and tool use 2004 –7 DOF leg buildup and control –Zero-g climbing test –Autonomous obstacle avoidance

5. ROBONAUT A Overview Sophisticated upper body system with 47 DOF –2 Human scale arms (2x7 DOF) –2 Dexterous hands (2x12 DOF) –Articulated neck (2 DOF) –Articulated waist (3 DOF) –Articulated eyes (4 DOF) Intuitive Control –Advanced telepresence interfaces –Hard real time control –Instinctual levels of autonomy Photo of teleoperator controlling ROBONAUT

6. ROBONAUT B Overview 51 DOF System –2 Human scale arms (2x7 DOF) –2 Dexterous hands (2x12 DOF) –Articulated neck (3 DOF) –Stabilizing Leg (6 DOF) –Articulated eyes (4 DOF) Embedded Avionics –Limb mounted controllers –cPCI Chassis layout –Simplified external interface Cart Mount –Supports RMS interface –Portable for experiments ROBONAUT B

7. 7 ROBONAUT: Anatomy for 0g Work Stereo Vision Articulated Neck Embedded CPU’s RMS Interface Dexterous Arms 5 Fingered Hands Stabilizing Leg Load Limiter WIF Adapter Shuttle RMS Space Station RMS RMS Interface Unit B Configuration

8. 8 ROBONAUT: Anatomy for Surface Work Turned towards Rear Work Deck Managing CG on Cross Slopes Stabilizing for Wench, Rappel, or Drill Tasks Lowering Upper Body to Ground Long Reach Across Ground Stowing in Small Volume Centaur Configuration RGV

9. 9 ROBONAUT Hand Mechanical Design 5 Fingers 12 DOF Hand 2 DOF Wrist Human scale 5 lb Finger tip strength 6 lb hand/forearm weight Electrical Design Embedded avionics Motors mounted in forearm 42 Sensors Control Finger joint position control Finger tip force control Photo of 5 DOF ROBONAUT Arm

10. 10 ROBONAUT Arm Mechanical Design –5 DOF upper arm –7 DOF with wrist –Human scale –1:1 strength/weight Electrical Design –Embedded avionics –16 Sensors per joint –Dual 6 Axis load cells Control Design –Cartesian Kinematics –Impedance Control –Hard real time system Photo of 5 DOF ROBONAUT Arm

11. 11 ROBONAUT Waist Joint 3 DOF Hip Joint 200 ft-lb Teleoperated Embedded avionics Large motion range Photo of ROBONAUT Waist mounted at JSC

12. 12 ROBONAUT Torso Mobility –3 Axis Waist Roll, Yaw Pitch Large Range of motion –Extends Reach Protection –Carbon Shell –Kevlar Skin –Suspension Sensing –Force/Moment Sensing –Tactile sensing ROBONAUT’s Carbon Under Shells Waist Joints Endoskeleton

13. 13 ROBONAUT Head & Neck Mechanical Design –2 DOF Neck –Common with arm –Protective helmet –Recessed cameras Electrical Design –Embedded avionics –Stereo color cameras Control – Helmet tracking –Real time control Photo of 2 DOF ROBONAUT Neck and Head

14. 14 ROBONAUT Eyes Mechanical Design –2 DOF Verge –Motorized zoom –2 Primary cameras –2 Secondary cameras Electrical Design –Emebedded avionics –Integrated camera packages Control –Network service cameras Zoom, focus, iris –Brainstem verge Photo of ROBONAUT eyes installed

15. 15 Tactile Glove 2 nd Generation Glove –33 Sensors –4 on Primary finger tips –Thumb and Index Sensors for pinch/side contact –Palm Various sizes –Relevant to tool High coverage

16. 16 2 Agent Team (Robot and Teleoperator) Command Data Video & Sensor Feedback Agents are connected by information alone