Analysis of the Space Robotics Challenge Tasks: From Simulation to Hardware Implementation
| Autor: | Taskin Padir, Velin Dimitrov, Murphy Wonsick |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Stair climbing Robotics 02 engineering and technology Workspace Space (commercial competition) Space exploration 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Artificial intelligence business Computer hardware Humanoid robot |
| Zdroj: | 2019 IEEE Aerospace Conference. |
| DOI: | 10.1109/aero.2019.8742144 |
| Popis: | Approaches and methods developed for the Space Robotics Challenge (SRC), a simulation based NASA Centennial Challenge requiring teams to integrate mobility, manipulation, and perception, are not well grounded with respect to the limitations and challenges posed by real robots. We describe the hardware and software details behind the Valkyrie humanoid robot designed by NASA's Johnson Space Center, originally for the DARPA Robotics Challenge (DRC). We present our results on implementing behaviors, which include: valve/wheel turning, grasping, walking, stair climbing, and arm workspace movements, necessary to complete the SRC tasks on both the physical Valkyrie and a simulated Valkyrie. This paper is aimed at providing a collection of practical knowledge and lessons learned relevant to researchers without access to a full-size humanoid robot and other individuals who focus on future development of new humanoid robot platforms for space exploration. This knowledge if incorporated early in new efforts and developments will save time and effort to adapt approaches successful in simulation to real humanoid robot hardware. |
| Databáze: | OpenAIRE |
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