Valkyrie: NASA's First Bipedal Humanoid Robot. Issue 3 (23rd January 2015)
- Record Type:
- Journal Article
- Title:
- Valkyrie: NASA's First Bipedal Humanoid Robot. Issue 3 (23rd January 2015)
- Main Title:
- Valkyrie: NASA's First Bipedal Humanoid Robot
- Authors:
- Radford, Nicolaus A.
Strawser, Philip
Hambuchen, Kimberly
Mehling, Joshua S.
Verdeyen, William K.
Donnan, A. Stuart
Holley, James
Sanchez, Jairo
Nguyen, Vienny
Bridgwater, Lyndon
Berka, Reginald
Ambrose, Robert
Myles Markee, Mason
Fraser‐Chanpong, N. J.
McQuin, Christopher
Yamokoski, John D.
Hart, Stephen
Guo, Raymond
Parsons, Adam
Wightman, Brian
Dinh, Paul
Ames, Barrett
Blakely, Charles
Edmondson, Courtney
Sommers, Brett
Rea, Rochelle
Tobler, Chad
Bibby, Heather
Howard, Brice
Niu, Lei
Lee, Andrew
Conover, Michael
Truong, Lily
Reed, Ryan
Chesney, David
Platt, Robert
Johnson, Gwendolyn
Fok, Chien‐Liang
Paine, Nicholas
Sentis, Luis
Cousineau, Eric
Sinnet, Ryan
Lack, Jordan
Powell, Matthew
Morris, Benjamin
Ames, Aaron
Akinyode, Jide
Iagnemma, Karl
Overholt, Jim
… (more) - Abstract:
- <abstract abstract-type="main"> <title> <x xml:space="preserve">Abstract</x> </title> <p>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.</p> </abstract>
- Is Part Of:
- Journal of field robotics. Volume 32:Issue 3(2015)
- Journal:
- Journal of field robotics
- Issue:
- Volume 32:Issue 3(2015)
- Issue Display:
- Volume 32, Issue 3 (2015)
- Year:
- 2015
- Volume:
- 32
- Issue:
- 3
- Issue Sort Value:
- 2015-0032-0003-0000
- Page Start:
- 397
- Page End:
- 419
- Publication Date:
- 2015-01-23
- Subjects:
- Robots, Industrial -- Periodicals
Automatic control -- Periodicals
629.892 - Journal URLs:
- http://onlinelibrary.wiley.com/journal/10.1002/(ISSN)1556-4967 ↗
http://onlinelibrary.wiley.com/ ↗ - DOI:
- 10.1002/rob.21560 ↗
- Languages:
- English
- ISSNs:
- 1556-4959
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - 4984.130000
British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 4360.xml