Robonaut 2 and you: Specifying and executing complex operations

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dc.citation.journalTitle2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)en_US
dc.contributor.authorBaker, Williamen_US
dc.contributor.authorKingston, Zacharyen_US
dc.contributor.authorMoll, Marken_US
dc.contributor.authorBadger, Juliaen_US
dc.contributor.authorKavraki, Lydiaen_US
dc.date.accessioned2017-11-17T14:39:05Zen_US
dc.date.available2017-11-17T14:39:05Zen_US
dc.date.issued2017en_US
dc.description.abstractCrew time is a precious resource due to the expense of trained human operators in space. Efficient caretaker robots could lessen the manual labor load required by frequent vehicular and life support maintenance tasks, freeing astronaut time for scientific mission objectives. Humanoid robots can fluidly exist alongside human counterparts due to their form, but they are complex and high-dimensional platforms. This paper describes a system that human operators can use to maneuver Robonaut 2 (R2), a dexterous humanoid robot developed by NASA to research co-robotic applications. The system includes a specification of constraints used to describe operations, and the supporting planning framework that solves constrained problems on R2 at interactive speeds. The paper is developed in reference to an illustrative, typical example of an operation R2 performs to highlight the challenges inherent to the problems R2 must face. Finally, the interface and planner is validated through a case-study using the guiding example on the physical robot in a simulated microgravity environment. This work reveals the complexity of employing humanoid caretaker robots and suggest solutions that are broadly applicable.en_US
dc.identifier.citationBaker, William, Kingston, Zachary, Moll, Mark, et al.. "Robonaut 2 and you: Specifying and executing complex operations." <i>2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO),</i> (2017) IEEE: https://doi.org/10.1109/ARSO.2017.8025204.en_US
dc.identifier.digitalbaker2017robonaut-2-and-youen_US
dc.identifier.doihttps://doi.org/10.1109/ARSO.2017.8025204en_US
dc.identifier.urihttps://hdl.handle.net/1911/98838en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.titleRobonaut 2 and you: Specifying and executing complex operationsen_US
dc.typeJournal articleen_US
dc.type.dcmiTexten_US
dc.type.publicationpost-printen_US
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