Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
| Autor: | Seth Gee, Joseph S. Altemus, Jason Lee, Lyndon Bridgwater, Stephen McCrory, Charlie Kendrick, Patrick Beeson, Jairo Sanchez, Joshua S. Mehling, Andrew Watson, Jerry Pratt, R. Scott Askew, Michael W. Lanighan, Robert J. Griffin, Steven Jens Jorgensen, Luis Sentis, Inho Lee, Ana Huaman Quispe, Sylvain Bertrand, Stephen Hart, Beau Domingue, Mark Paterson |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science Terrain 02 engineering and technology Space (commercial competition) Task (project management) Computer Science - Robotics Identification (information) 020901 industrial engineering & automation Human–computer interaction Software deployment 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing User interface Robotics (cs.RO) Humanoid robot |
| Zdroj: | Humanoids |
| DOI: | 10.48550/arxiv.1910.00761 |
| Popis: | As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end-to-end improvised explosive device (IED) response task. To demonstrate and evaluate robot capabilities, sub-tasks highlight different locomotion, manipulation, and perception requirements: traversing uneven terrain, passing through a narrow passageway, opening a car door, retrieving a suspected IED, and securing the IED in a total containment vessel (TCV). For each sub-task, a description of the technical approach and the hidden challenges that were overcome during development are presented. The discussion of results, which explicitly includes existing limitations, is aimed at motivating continued research and development to enable practical deployment of humanoid robots for IED response. For instance, the data shows that operator pauses contribute to 50\% of the total completion time, which implies that further work is needed on user interfaces for increasing task completion efficiency. Comment: 2019 IEEE-RAS International Conference on Humanoid Robots |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|