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Creators/Authors contains: "Steven Jorgensen, Michael Lanighan"

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Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary

Steven Jorgensen, Michael Lanighan ( January 2019 , IEEE-RAS International Conference on Humanoid Robots)

As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end- to-end improvised explosive device (IED) response task. To demonstrate and evaluate robot capabilities, sub-tasks highlight different locomotion, manipulation, and perception requirements: traversing uneven terrain, passing through a narrow passageway, opening a car door, retrieving a suspected IED, and securing the IED in a total containment vessel (TCV). For each sub-task, a description of the technical approach and the hidden challenges that were overcome during development are presented. The discussion of results, which explicitly includes existing limitations, is aimed at motivating continued research and development to enable practical deployment of humanoid robots for IED response.
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