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This Concept Map, created with IHMC CmapTools, has information related to: WBS, Gratn Task 1: Develop simulation models of Robonaut. 9% Total Funded Work 1.1.2 GT1 Exit Criteria: The simulation models look and behave like the real robot. Algorithms that work in the simulation work on the real robot with minimal additional tuning., GT1 Exit Criteria: The simulation models look and behave like the real robot. Algorithms that work in the simulation work on the real robot with minimal additional tuning. 1.1.2.2 TM 01/2010: The simulated robot walks in Earth gravity, with external stabilizing forces., Grant Task 7: Development and Experiments on R2C Robot. 18% Total Funded Work 1.7.1 GT7 Prerequisites: R2C is designed, built, and integrated with the Argos system., GT1 Exit Criteria: The simulation models look and behave like the real robot. Algorithms that work in the simulation work on the real robot with minimal additional tuning. 1.1.2.2 TM 01/2010: Initial joint torque and speed estimates are extracted from the simulation., Grant Task 2: Assist in the design of Robonaut. 7% Total Funded Work 1.2.1 GT2 Prerequisites: Actuator design documentation provided by JSC., Gratn Task 1: Develop simulation models of Robonaut. 9% Total Funded Work 1.1.1 GT1 Prerequisites: Estimates of robot joint layout, link lengths, and inertial parametersprovided by JSC., Grant Task 7: Development and Experiments on R2C Robot. 18% Total Funded Work 1.7.3 GT7 Deliverables: Live demonstration of R2C walking in the Argos system at JSC., Option 1-- Unfunded Work 2.9 Refining software modules for flight worthiness., Gratn Task 1: Develop simulation models of Robonaut. 9% Total Funded Work 1.1.3 GT1 Deliverables: Document with estimated joint speed, torque, and range of motion requirements., Baseline Grant 1.7 Grant Task 7: Development and Experiments on R2C Robot. 18% Total Funded Work, Option 1-- Unfunded Work 2.7 Developing whole body motion and path planning., GT6 Exit Criteria: M2V2 walks on flat ground in simulated reduced gravity. 1.6.2.1 TM 03/2010: M2V2 is taking steps in Argos. Done, Grant Task 6: Development and Experiments on M2V2 Robot in Argos. 10% Total Funded Work 1.6.3 Deliverables: Live demonstration of M2V2 walking on flat ground in Earth and reduced gravities in the Argos system at JSC., IHMC Unsolicited Proposal 0.2 Option 1-- Unfunded Work, Option 1-- Unfunded Work 2.5 Developing path planning algorithms., Grant Task 2: Assist in the design of Robonaut. 7% Total Funded Work 1.2.3 GT2 Deliverables: Design review document critiquing Robonaut design., GT6 Exit Criteria: M2V2 walks on flat ground in simulated reduced gravity. 1.6.2.2 TM 02/2010: M2V2 is provided to JSC to fit into Argos system. Done, Baseline Grant 1.2 Grant Task 2: Assist in the design of Robonaut. 7% Total Funded Work, GT1 Exit Criteria: The simulation models look and behave like the real robot. Algorithms that work in the simulation work on the real robot with minimal additional tuning. 1.1.2.3 The NASA walking support software team is organized, development room set up, coordination server running and software installed, and first co-development session., Option 1-- Unfunded Work 2.12 Perform testing on R2D at JSC.