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Title: A Holistic Approach to Human-Supervised Humanoid Robot Operations in Extreme Environments
Nuclear energy will play a critical role in meeting clean energy targets worldwide. However, nuclear environments are dangerous for humans to operate in due to the presence of highly radioactive materials. Robots can help address this issue by allowing remote access to nuclear and other highly hazardous facilities under human supervision to perform inspection and maintenance tasks during normal operations, help with clean-up missions, and aid in decommissioning. This paper presents our research to help realize humanoid robots in supervisory roles in nuclear environments. Our research focuses on National Aeronautics and Space Administration (NASA’s) humanoid robot, Valkyrie, in the areas of constrained manipulation and motion planning, increasing stability using support contact, dynamic non-prehensile manipulation, locomotion on deformable terrains, and human-in-the-loop control interfaces.  more » « less
Award ID(s):
1944453
NSF-PAR ID:
10334718
Author(s) / Creator(s):
; ; ; ;
Date Published:
Journal Name:
Frontiers in Robotics and AI
Volume:
8
ISSN:
2296-9144
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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