Proceeding of the 6 th International Symposium on Artificial Intelligence and Robotics & Automation in Space: i-SAIRAS 2001, Canadian Space Agency, St-Hubert, Quebec, Canada, June 18-22, 2001. Robonaut: A Robotic Astronaut Assistant M.A. Diftler Lockheed Martin Automation and Robotics Department Mail Code C35 Houston, TX 77058 diftler@jsc.nasa.gov R.O. Ambrose NASA Johnson Space Center Automation, Robotics and Simulation Division Mail Code ER4 Houston Texas 77058 rambrose@ems.jsc.nasa.gov Keywords Humanoids, dexterous robots, anthropomorphic, space manipulator, redundant system, mechatronics. Abstract NASA’s latest anthropomorphic robot, Robonaut, has reached a milestone in its capability. This highly dexterous robot, designed to assist astronauts in space, is now performing complex tasks at the Johnson Space Center that could previously only be carried out by humans. With 43 degrees of freedom, Robonaut is the first humanoid built for space and incorporates technology advances in dexterous hands, modular manipulators, lightweight materials, and telepresence control systems. Robonaut is human size, has a three degree of freedom (DOF) articulated waist, and two seven DOF arms, giving it an impressive work space for interacting with its environment. Its two five fingered hands allow manipulation of a wide range of tools. A pan/tilt head with multiple stereo camera systems provides data for both teleoperators and computer vision systems. 1 Introduction The requirements for extra-vehicular activity (EVA) on-board the International Space Station (ISS) are expected to be considerable. These maintenance and construction activities are expensive and hazardous. Astronauts must prepare extensively before they may leave the relative safety of the space station, including pre-breathing at space suit air pressure for up to 4 hours. Once outside, the crew person must be extremely cautious to prevent damage to the suit. Certain pieces of the Space Station Alpha have been designed to be serviced by robotic systems. The Canadian Space Agency’s Special Purpose Dexterous Manipulator (SPDM) was developed for this purpose. To be serviceable by the SPDM, worksites have been designed to have different approach corridors than EVA and specialized interfaces. Figure 1. Robonaut While specialized worksites for robotics systems have been very successful in a variety of industries, including space, the Robotic Systems Technology Branch at the NASA Johnson Space Center (JSC) is taking a different