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Accession Number N14-0000957
Title Robonaut 2 on the International Space Station: Status Update and Preparations for IVA Mobility.
Publication Date Sep 2013
Media Count 14p
Personal Author A. W. Curtis C. A. Joyce J. M. Badger M. E. Diftler R. B. Berka S. Yayathi T. D. Ahlstrom
Abstract Robotics engineers, ground controllers and International Space Station (ISS) crew have been running successful experiments using Robonaut 2 (R2) on-board the ISS for more than a year. This humanoid upper body robot continues to expand its list of achievements and its capabilities to safely demonstrate maintenance and servicing tasks while working alongside human crewmembers. The next phase of the ISS R2 project will transition from a stationary Intra Vehicular Activity (IVA) upper body using a power/data umbilical, to an IVA mobile system with legs for repositioning, a battery backpack power supply, and wireless communications. These upgrades will enable the R2 team to evaluate hardware performance and to develop additional control algorithms and control verification techniques with R2 inside the ISS in preparation for the Extra Vehicular Activity (EVA) phase of R2 operations. As R2 becomes more capable in assisting with maintenance tasks, with minimal supervision, including repositioning itself to different work sites, the ISS crew will be burdened with fewer maintenance chores, leaving them more time to conduct other activities. R2's developers at the Johnson Space Center (JSC) are preparing the R2 IVA mobility hardware and software upgrades for delivery to the ISS in late 2013. This paper summarizes R2 ISS achievements to date, briefly describes the R2 IVA mobility upgrades, and discusses the R2 IVA mobility objectives and plans.
Keywords Extravehicular activity
International space station
Maintenance
Mobility
Robotics
Robots
Spacecrews
Wireless communication

 
Source Agency National Aeronautics and Space Administration
NTIS Subject Category 62 - Computers, Control & Information Theory
84 - Space Technology
Corporate Author National Aeronautics and Space Administration, Houston, TX. Lyndon B. Johnson Space Center.
Document Type Conference proceedings
Title Note N/A
NTIS Issue Number 1420
Contract Number N/A

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