| タイトル | Advancing Robotic Control for Space Exploration Using Robonaut 2 |
| 本文（外部サイト） | http://hdl.handle.net/2060/20120002793 |
| 著者（英） | Hart, Stephen; Badger, Julia; Diftler, Myron; Joyce, Charles |
| 著者所属（英） | NASA Johnson Space Center |
| 発行日 | 2012-01-01 |
| 言語 | eng |
| 内容記述 | Robonaut 2, or R2, arrived on the International Space Station (ISS) in February 2011 and is currently being tested in preparation for its role initially as an Intra-Vehicular Activity (IVA) tool and eventually as a robot that performs Extra-Vehicular Activities (EVA). Robonaut 2, is a state of the art dexterous anthropomorphic robotic torso designed for assisting astronauts. R2 features increased force sensing, greater range of motion, higher bandwidth, and improved dexterity over its predecessor. Robonaut 2 is unique in its ability to safely allow humans in its workspace and to perform significant tasks in a workspace designed for humans. The current operational paradigm involves either the crew or the ground control team running semi-autonomous scripts on the robot as both the astronaut and the ground team monitor R2 and the data it produces. While this is appropriate for the check-out phase of operations, the future plans for R2 will stress the current operational framework. The approach described here will outline a suite of operational modes that will be developed for Robonaut 2. These operational modes include teleoperation, shared control, directed autonomy, and supervised autonomy, and they cover a spectrum of human involvement in controlling R2. |
| NASA分類 | Cybernetics, Artificial Intelligence and Robotics |
| レポートNO | JSC-CN-25764 |
| 権利 | Copyright, Distribution as joint owner in the copyright |
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