NASAヴァルキリーによるIED対応タスクの実証と評価
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
ヒューマノイドロボットが不整地移動や車のドア開け、爆発物回収・収容までの一連のIED対応タスクを遂行できるかを実機で検証し、課題と限界をまとめた。
著者: Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand, Andrew Watson, Joseph S. Altemus, R. Scott Askew, Lyndon Bridgwater, Beau Domingue, Charlie Kendrick, Jason Lee, Mark Paterson, Jairo Sanchez, Patrick Beeson, Seth Gee, Stephen Hart, Ana Huaman Quispe, Robert Griffin, Inho Lee, Stephen McCrory, Luis Sentis, Jerry Pratt, Joshua S. Mehling
分類: cs.RO
原文アブストラクト
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. For instance, the data shows that operator pauses contribute to 50\% of the total completion time, which implies that further work is needed on user interfaces for increasing task completion efficiency.
