Valkyrie: NASA's First Bipedal Humanoid Robot
Valkyrie: NASA's First Bipedal Humanoid Robot
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DOI：
10.1002/rob.21560
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发表时间：
2015-05-01
影响因子：
8.3
通讯作者：
Akinyode, Jide
中科院分区：
文献类型：
--
作者：
Radford, Nicolaus A.;Strawser, Philip;Akinyode, Jide
2013年12月，来自世界各地的16支队伍聚集在佛罗里达州迈阿密附近的霍姆斯特德赛车场参加DARPA机器人挑战赛（DRC）试验，这是一项积极的机器人比赛，部分灵感来自福岛第一反应堆事故的后果。DRC试验的重点是推进机器人在严峻和恶劣环境中的应用，而DRC的目标是在日常机器人的监督自主和移动操作领域取得进展。美国宇航局约翰逊航天中心领导了一个由众多合作伙伴组成的团队，开发了美国宇航局的第一个双足类人机器人瓦尔基里。瓦尔基里是一个44个自由度，系列弹性驱动器为基础的机器人，借鉴了超过18年的人形机器人设计遗产。Valkyrie的应用意图不仅是为了应对像福岛这样的事件，而且还为了推进人类在地外行星环境中的太空飞行。本文简要介绍了系统概述，详细介绍了瓦尔基里的机电子系统，然后总结了试验中采用的基于逆运动学的行走算法。接下来，重点介绍了软件和控制体系结构以及操作员界面工具的描述。最后，对本次比赛作了总结，并对今后的工作进行了展望。
In December 2013, 16 teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive robotics competition partly inspired by the aftermath of the Fukushima Daiichi reactor incident. While the focus of the DRC Trials is to advance robotics for use in austere and inhospitable environments, the objectives of the DRC are to progress the areas of supervised autonomy and mobile manipulation for everyday robotics. NASA's Johnson Space Center led a team comprised of numerous partners to develop Valkyrie, NASA's first bipedal humanoid robot. Valkyrie is a 44 degree-of-freedom, series elastic actuator-based robot that draws upon over 18 years of humanoid robotics design heritage. Valkyrie's application intent is aimed at not only responding to events like Fukushima, but also advancing human spaceflight endeavors in extraterrestrial planetary settings. This paper presents a brief system overview, detailing Valkyrie's mechatronic subsystems, followed by a summarization of the inverse kinematics-based walking algorithm employed at the Trials. Next, the software and control architectures are highlighted along with a description of the operator interface tools. Finally, some closing remarks are given about the competition, and a vision of future work is provided.