In Situ Training of Robonaut for In-Space Assembly, Maintenance and Servicing

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$69,698.00
Award Year:
2005
Program:
SBIR
Phase:
Phase I
Contract:
NNJ05JC08C
Award Id:
76861
Agency Tracking Number:
040860
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
301 N. Harrison St., Suite 242, Princeton, NJ, 08540
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
019852081
Principal Investigator:
David Handelman
Principal Investigator
(609) 924-4490
dhandelman@americanandroid.com
Business Contact:
David Handelman
President
(609) 924-4490
dhandelman@americanandroid.com
Research Institute:
n/a
Abstract
The goal of the proposed FieldTrainer control system is to enable astronauts to teach Robonaut on-orbit how to perform new complex tasks using EVA tools. Employing a show-and-tell approach to robot training, the control system acquires rule-based task plans through verbal dialog between robot and astronaut, and acquires neural network-based skills incrementally though verbal, visual, and manual inputs. The project builds upon previous research that demonstrates the viability of verbally constructing non-trivial task descriptions. In Phase I, a simulator for a Robonaut-based Hubble rescue mission is developed. Baseline tool manipulation behaviors are created using an existing behavior development system. Verbal construction of high-level rule-based behaviors is demonstrated. Refinement of motion sequences through verbal training of neural networks is studied whereby perturbations are added to nominal rule-based task execution. The training methodology is also evaluated for its potential use in education. FieldTrainer technology is expected to give Robonaut an unending ability to learn and flightcrews the ability to customize Robonaut's behavior for routine tasks and unexpected situations.

* information listed above is at the time of submission.

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