Analysis of the Space Robotics Challenge Tasks: From Simulation to Hardware Implementation

摘要

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.