valkyrie, nasa’s new humanoid
TRANSCRIPT
VALKYRIE, NASA’S NEW HUMANOID
Nicolaus Radford, NASAValkyrie Project Manager
2/25/2014 1
WelcomeNASA – Johnson Space Center
• ER- Software, Robotics and Simulation • ER4 – Robotic Systems Technology Development Branch
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The Onsite Team
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4 babies 2 engagements 1 Marriage 0 Divorces !
Robotics Challenge Team Bunker
Design and Development
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Hand Electronics derived from RoboGlove
Hand Electronics derived from RoboGlove
Hip and knee actuators
derived from X1 Exoskeleton
Hip and knee actuators
derived from X1 Exoskeleton
Force Sensing Shoe is derived from X1 Exoskeleton shoe
Force Sensing Shoe is derived from X1 Exoskeleton shoe
Battery and BMS based off R2 battery for
International Space Station
Battery and BMS based off R2 battery for
International Space Station
Arm Actuators derived from R2 Robonaut -
improved SEA design
Arm Actuators derived from R2 Robonaut -
improved SEA design
Motor Controller is an improved version of
R2 Climbing Legs and X1 Exo
Motor Controller is an improved version of
R2 Climbing Legs and X1 Exo
Hand derived from R2 hand
Hand derived from R2 hand
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Valkyrie ( ‘Val’) • 44 Degrees of Freedom• 2 KWhr Battery• 3 Core i7 Computers• 1 Carma GPU• 3 IMUs• 3 LIDARs• 2 6-axis Force/Torque• 2 Pressure Sensing Shoes• 2 3-axis accelerometers• 4 Digital HD Cameras• 6 Depth Map Cameras• 10 single-axis force sensors• 44 Motor Controllers• Wifi Enabled
125kg
7 DOF Arms
6 DOF Legs
3 DOF Waist
3 DOF Neck
6 DOF Hand
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• Two high performance Lithium Ion battery packs.
Energy Storage System
Design and DevelopmentForearm and Hand
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• Small integrated and light weight structure:
• 3.6 Kg, •Joint torque control, series elastic wrist roll • Two modular four axis motor driver and system control nodes• One single axis motor driver and power distribution node• Single sensor collection node
• 24 hand tactile sensors distributed throughout fingers and palm• 13 joint position sensors• Three axis accelerometer and gyro
Design and DevelopmentModular, Flexible, Force-Sensing Foot
• Integrated sensors• 6 axis force transducer bellow ankle• Contact sensor array across sole of foot• 3 axis accelerometers and gyro
• Carbon fiber foot plate• Flexibility for foot roll• Spring for heal strike and toe off
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Design and DevelopmentFall Protection
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• Rugged Exterior
Software and Control
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Gazebo – Existing simulation framework geared toward
robotics
Gazebo – Existing simulation framework geared toward
robotics Improved and generalized R2’s control scheme using
Whole Body Control
Improved and generalized R2’s control scheme using
Whole Body Control
Extended RTC for real-time, localized application
development suitable for writing high-performance
control-programs
Extended RTC for real-time, localized application
development suitable for writing high-performance
control-programs
Rviz for operator awareness and data visualization
Rviz for operator awareness and data visualization
Affordance templates built on top of ROS’ interactive
marker system
Affordance templates built on top of ROS’ interactive
marker system
Use of proven perception hardware and algorithmsUse of proven perception hardware and algorithms
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Robot Skills
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Amazing Team
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Thank You
Thank You
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B a c k U p
Hardware Architecture
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RL J1
NECK Bracelet / Leonidas
CPU & PDMITI
Dual Turbo T-board
Single Turbo T-board
RJ1Dual Turbo T-board
WL J1 Single Turbo T-board
Dual Turbo T-board
Dual Turbo T-board
RL
J3
RL
J4
LL J
3
LL J
4
RL
J5
RL
J6
LL J
5
LL J
6
Single Turbo T-board
Single Turbo T-board
Single Turbo T-board
Single Turbo T-board
W J
2
WJ
3
RA
J1
LA J
1
Single Turbo T-board
Single Turbo T-board
Single Turbo T-board
Single Turbo T-board
Proprioceptive System(Power and RoboNet enabled sensors)
LLDISCONNE
CT
RLDISCONNE
CT
PDISCONNE
CT
Foot Board Foot Board
In-LineDISCONNECT
Forearm DC
Forearm DC
RA DC LA DC
Shin DCShin DC
Turbo Driver Motor Controller
End Effector Motor Drivers / Sensor Boards
TekscanBoards
TekscanBoards
6-Axis F/T Sensor
6-Axis F/T Sensor
Touch Sensors
Touch Sensors
Touch Sensors
Hardware Architecture
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Exteroceptive System(USB & Ethernet enabled vision sensors)
In-LineDISCONNECT
COMPUTER &
PDMITI
Hokuyo Ethernet
IBEO ETHERNET
Camboard-NANOUSB
CAMERA USB
CAMERA USB
CAMERA USB
CAMERA USB
ASUSUSB
Camboard NANO USB
Camboard NANO USB
Forearm DC
Forearm DC
IMU W/ GPS USB
IMU USB
IMU USB
Ethernet Sensors
USB Sensors
LA DCRA DC
LL DCRL DC
Shin DCShin DC
RoboNet Sensors
5X Sonar RoboNet
Hokuyo Ethernet
Camboard-NANOUSB
Camboard-NANOUSB
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