1. FOR NASA USE ONLY R2 Overview Ron Diftler Robonaut Project Manager NASA 2/3/2010

2. FOR NASA USE ONLY Status Both Units Fully Operational Focused on Env Testing, Applications Testing flight upgrades Very frequent demonstrations Media Release tomorrow Unit R2A Prepping for EMI chamber Endurance testing Upgrading Firmware Unit R2B Currently working MLI task Augmenting with feature identification Visual identification of fasteners Haptics to identify grommets on fabric (on hold) Space Task Two Units

3. FOR NASA USE ONLY Dexterity Hands Wide range of grasps Approaching human joint travel Fine motion Impedance mode in use High friction grip surface Arms High resolution absolute position sensing Joint level force control Variable compliance Zero gravity mode Human Like Grasps Compliant Arm

4. FOR NASA USE ONLY Performance Speed Much faster than R1 –Adjusting to higher speed Arm joints tested at max rate –Currently limited: approx ½ max fingers and wrists –Highly efficient Second Gen Drivers integrated in both robots –Speed Doubled Strength Exceeds human endurance at human strength Grip Strength –Tendon boost being evaluated –Friction used to advantage Custom Finger Motor Drivers Strong Grip at Low Power

5. FOR NASA USE ONLY Performance Bandwidth Multiprocessing –Dual Main processors –Dual joint level processors High speed communication –50mbits/sec 10KHz torque control loops Outboard sensing –Tension tubes –Phalange force/torque sensors –Joint Output Torque Palm with Tension Tubes Tension Tubes with Flex

6. FOR NASA USE ONLY Workspace Dual Arm Workspace Maximized through Arm Placement 15 degree shrug angle Increases workspace in front of Robot - –Wampler, Niswonger –Delmia simulation Body Mobility Waist Degree of freedom –Unit A – series elastic being evaluated –Unit B – direct position control Extend dual arm workspace over 360 degrees No Shrug Need New Skin Photo 15º Shrug Shoulders with Shrug

7. FOR NASA USE ONLY Workspace Neck Three Degree of Freedom Inspired by Human Spine –Double pitch joints Enhanced viewing close to body Head Sensor System Workspace visual data Mounted on Atlas of Neck –Stereo high resolution Cameras –Auxiliary sensors –Structured light –Auxiliary lighting Neck Photo

8. FOR NASA USE ONLY Human Interaction Size Smaller than R1 –Internal wiring –4.5” width reduction Comparable to human Soft skin with padding Safety State Machine in Software –Verify safe state before switching between modes Multi-level Sensors –Position –Force/Torque Superdriver –Dual processors – high speed loops Series Elastic Control R2 Dexterous Human? Embedded SuperDriver

9. FOR NASA USE ONLY Controller User Interface Menu based Startup with minimal typing Easy to use –Even I can run the robot Skills toolbox Primitive Blocks Controller –Zero-g motion –Cartesian control –Stiffness control –Teaching mode Predefined grasps –Drill –Roller –Multi-Layer Insulatation Semi-experienced R2 Operator

10. FOR NASA USE ONLY Power: Hotel Load: 300 Watts Robot Operations: 350 Watts- 900 Watts (includes hotel) –Task, speed dependent Command/Control Data: Option A: Current Setup –Robot to Ground: 80 to 100 Kbytes/sec –Ground to Robot: 30 to 50 Kbytes/sec Option B: Login to ISS Laptop –Rate Unknown Video: Stereo HD Video for Education/Public Relations Can be reduced to stereo NTSC level if necessary Reducing quality and speed will slow tasks down R2 System Requirements

11. FOR NASA USE ONLY R2 On-Orbit Test and Objectives

12. FOR NASA USE ONLY Motivation and Strategy Putting A Robot On ISS-IVA Will Take Us A Long Way Towards Maturation Space Vehicle(s) Micro-gravity EMI/Radiation environment ISS Tasks Crew Interaction IVA Compatibility Required Only EVA compatibility where schedule permits System Check Out Recreate basic capability demonstrated on Earth Earn Stripes Task board operations Low risk IVA crew tasks Beyond Engage ISS Inspection and Maintenance Community Education Public Relations

13. FOR NASA USE ONLY IVA Check out Crew and Ground Control Unpack and Mount to IVA worksite Verify static stability Establish and Verify Interfaces Power Comm Video Robot Health Assess all sensor signals Confirm all safeties Single joint check outs

14. FOR NASA USE ONLY Ground Control Operations Ground Control with Crew Monitoring Limit Speed, Forces, and Workspace Progressively Increase Robot Operations Free Space Operations Single joint Coupled joints Single limb Dual limb Demonstrate safeties Contact Operations Restricted contact Simple Task Board Increased Task Board Complexity Education and Public Relations Students pointing the head

15. FOR NASA USE ONLY IVA Growth Waist Pitch and Yaw Joints Allow greater access in workspace without requiring repositioning by crew Bend down and back Lean to left and right far more than human could Stabilizing Leg Seven degree of freedom leg Increases workspace of the robot by an order of magnitude while anchored Can be combined with articulated foot Waist joints included in leg.

16. FOR NASA USE ONLY R2 Preparation for Flight

17. FOR NASA USE ONLY Preparing For Shuttle Launch and ISS Audits Materials Vibration Acoustics Grounding Safeties Video/Comm Development Testing Radiation EMI Power quality Acoustics Vibration

18. FOR NASA USE ONLY Preparing For Shuttle Launch and ISS Robot Modifications Power system –Convert to ISS 120 DC Waist interface/ quick disconnect Replace protoboards Firmware reprogramming capability More from audits and development Testing Task Board Development Use ISS hardware Velcro Connectors Start easy

19. FOR NASA USE ONLY Backup

20. FOR NASA USE ONLY Distributed Software “Brain Stem” Real Time Application EtherNet (1-50 Hz) MLVDS High Speed Serial Link System Commander Motion Application Programs Robot Vision Algorithms Haptic Sensing (50 Hz) Graphical User Interface EtherNet (NDDS) GigE Robot Vision Hardware Application Programming Interface 15 FPS 5 MP Images 10 Hz