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This Concept Map, created with IHMC CmapTools, has information related to: WBS.3.0, Baseline Grant 1.4 TM 12/2010: A copy of R2C robot hardware is installed at IHMC robotics laboratory., Grant Task 7: Development and Experiments on R2C Robot. 18% Total Funded Work 1.2.5 GT7 Prerequisites: R2C is designed, built, and integrated with the Argos system., Final estimates of joint layout, link lengths, and intertial parameters provided byJSC -- in August 1.2.1.1.3.1.2.1 TM 01/2010: Initial joint torque and speed estimates are extracted from the simulation., Grant Task 3: Develop theoretical models for locomotion at various gravities. 10% Total Funded Work 1.2.1.1.1.1.2 GT3 Exit Criteria: The theoretical models developed will be simulated and verified and shown to be approximations of the full robot model for the given dynamics of interest., Final Models 1.2.1.1.3.1.3 Additional Model Refinements, Grant Task 4: Develop flat ground walking algorithm for various gravities. 28% Total Funded Work 1.2.1.1.1.3 GT4 Deliverables: Simulation video demonstration., Grant Task 4: Develop flat ground walking algorithm for various gravities. 28% Total Funded Work 1.2.1.1.1.4 GT4 Exit Criteria: Simulated R2 robot walks, turns, and recovers from small disturbances in Earth and reduced gravities on flat ground., IHMC Unsolicited Proposal 0.3 Option 2-- Unfunded Work Improve Algorithm Capabilities and Reliability and Make Flight Ready, Grant Task 5: Develop and refine walking algorithm tools and control modules. 18% Total Funded Work 1.2.1.1.1.5.2 GT5 Exit Criteria: Robot Construction Set running and tested on R2 brain and controlling at least one joint., Grant Task 5: Develop and refine walking algorithm tools and control modules. 18% Total Funded Work 1.2.1.1.1.5.4 Deliverables: Software documentation on the various tools and control modules., Grant Task 4: Develop flat ground walking algorithm for various gravities. 28% Total Funded Work 1.2.1.1.1.5 Grant Task 5: Develop and refine walking algorithm tools and control modules. 18% Total Funded Work, Grant Task 5: Develop and refine walking algorithm tools and control modules. 18% Total Funded Work 1.2.1.1.1.5.3 GT5 Exit Criteria: The walking algorithm development team has all the tools and control modules that they need., Option 1-- Unfunded Work 2.1 Developing simulation of various reduced gravity gaits., TM 09/2010: Calibration and diagnostics algorithms are written. 1.2.2.1 TM 09/2010: R2C sensors are being read and the joints are exercised in the Argos system., Grant Task 4: Develop flat ground walking algorithm for various gravities. 28% Total Funded Work 1.2.1.1.1.2 GT4 Prerequisites: Walking algorithm and control modules team, consisting of researchers at JSC and IHMC provide control modules and make refinements to development tools as necessary., Gratn Task 1: Develop simulation models of Robonaut. 9% Total Funded Work 1.2.1.1.2 GT1 Exit Criteria: Algorithms that work in the simulation work on the real robot with minimal additional tuning., Baseline Grant 1.2 Grant Task 7: Development and Experiments on R2C Robot. 18% Total Funded Work, Gratn Task 1: Develop simulation models of Robonaut. 9% Total Funded Work 1.2.1.1.4 GT1 Deliverables: Document with estimated joint speed, torque, and range of motion requirements., Grant Task 3: Develop theoretical models for locomotion at various gravities. 10% Total Funded Work 1.2.1.1.1.1.3 GT3 Deliverables: Simulation video demonstration of various theoretical models., Mid-Project Models 1.2.1.1.3.1.1.2 Refinements of the initial R2C Model