Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
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DOI：
10.1109/humanoids43949.2019.9034993
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发表时间：
2019-10
期刊：
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通讯作者：
Steven Jens Jorgensen;Michael Lanighan;S. Bertrand;Andrew Watson;Joseph S. Altemus;R. Askew;L. Bridgwater;Beau B. Domingue;Charlie Kendrick;Jason Lee;Mark Paterson;Jairo Sanchez;P. Beeson;Seth Gee;Stephen Hart;A. H. Quispe;Robert J. Griffin;Inho Lee;Stephen McCrory;L. Sentis;J. Pratt;J. Mehling
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作者：
Steven Jens Jorgensen;Michael Lanighan;S. Bertrand;Andrew Watson;Joseph S. Altemus;R. Askew;L. Bridgwater;Beau B. Domingue;Charlie Kendrick;Jason Lee;Mark Paterson;Jairo Sanchez;P. Beeson;Seth Gee;Stephen Hart;A. H. Quispe;Robert J. Griffin;Inho Lee;Stephen McCrory;L. Sentis;J. Pratt;J. Mehling
作为可行性研究的一部分，本文展示了NASA Valkyrie人形机器人执行端到端简易爆炸装置（IED）响应任务。为了展示和评估机器人的能力，子任务强调了不同的运动，操纵和感知要求：穿越不平坦的地形，通过狭窄的通道，打开车门，检索可疑的IED，并将IED固定在总密封容器（TCV）中。对于每个子任务，都介绍了技术方法和开发过程中克服的隐藏挑战。讨论的结果，其中明确包括现有的限制，旨在激励继续研究和开发，使实际部署的人形机器人的简易爆炸装置的反应。例如，数据显示，操作员暂停占总完成时间的50%，这意味着需要在用户界面上做进一步的工作，以提高任务完成效率。免责声明：本报告中使用的商品名称和商标仅供识别。它们的使用并不构成美国国家航空航天局的官方认可，无论是明示还是暗示
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.**Disclaimer: Trade names and trademarks are used in this report for identification only. Their usage does not constitute an official endorsement, either expressed or implied, by the National Aeronautics and Space Administration