NASA NTRS2015
In 2010, the Robonaut Project embarked on a multi‐phase mission to perform technology demonstrations on‐board the International Space Station (ISS), showcasing state of the art robotics technologies through the use of Robonaut 2 (R2). This phased approach implements a strategy that allows for the use of ISS as a test bed during early development to both demonstrate capability and test technology while still making advancements in the earth based laboratories for future testing and operations in space. While R2 was performing experimental trials onboard the ISS during the first phase, engineers were actively designing for Phase 2, Intra‐Vehicular Activity (IVA) Mobility, that utilizes a set of zero‐g climbing legs outfitted with grippers to grasp handrails and seat tracks. In addition to affixing the new climbing legs to the existing R2 torso, it became clear that upgrades to the torso to both physically accommodate the climbing legs and to expand processing power and capabilities of the robot were required. In addition to these upgrades, a new safety architecture was also implemented in order to account for the expanded capabilities of the robot. The IVA climbing legs not only needed to attach structurally to the R2 torso on ISS, but also required power and data connections that did not exist in the upper body. The climbing legs were outfitted with a blind mate adapter and coarse alignment guides for easy installation, but the upper body required extensive rewiring to accommodate the power and data connections. This was achieved by mounting a custom adapter plate to the torso and routing the additional wiring through the waist joint to connect to the new set of processors. In addition to the power and data channels, the integrated unit also required updated electronics boards, additional sensors and updated processors to accommodate a new operating system, software platform, and custom control system. In order to perform the unprecedented task of building a robot in space, extensive practice sessions and meticulous procedures were required. Since crew training time is at a premium, the R2 team took a skills‐based training approach to ensure the astronauts were proficient with a basic skill set while refining the detailed procedures over several practice sessions and simulations. In addition to the crew activities, meticulous ground procedures were required in order to upgrade firmware on the upper body motor drivers. The new firmware for the IVA mobility unit needed to be deployed using the old software system. This also provided an opportunity to upgrade the upper body joints with new software and allowed for limited insight into the success of the updates. Complete verification that the updated firmware was successfully loaded was not confirmed until the rewiring of the upper body torso was complete.