control. For approximately 1 year, the fixed base R2 will perform a variety of experiments using
a reconfigurable task board that was launched with the robot. While working side-by-side with
human astronauts, R2 will actuate switches, use standard tools, and manipulate space station
interfaces, soft goods, and cables. The results of these experiments will demonstrate the wide
range of tasks a dexterous humanoid can perform in space, and they will help refine the
methodologies used to control dexterous robots both in space and here on Earth (Diftler 2012).
PUBLICATION(S)
Diftler MA, Ahlstrom TD, Ambrose RO, et al. Robonaut 2 - Initial activities on-board the ISS.
2012 IEEE Aerospace Conference, Big Sky, MT; 2012: pp.1-12. doi:
10.1109/AERO.2012.6187268.
PATENT(S)
Sanders AM, Platt RJ, Quillin N, Permenter FN, Pfeiffer J, inventors; Method and system for
controlling a dexterous robot execution sequence using state classification. United States
Patent and Trademark Office 8,706,299. April 22, 2014.
Abdallah ME, Hargrave B, Platt RJ, inventors; Applying workspace limitations in a velocity-
controlled robotic mechanism. United States Patent and Trademark Office 8,676, 382. March
18, 2014.
Reiland M, Diftler MA, inventors; System and method for tensioning a robotically actuated
tendon. United States Patent and Trademark Office 8,618,762. December 31, 2013.
Ihrke CA, Bridgwater LB, Diftler MA, Linn DM, Platt RJ, Hargrave B, Askew SR, Valvo MC,
inventors; Robotic finger assembly. United States Patent and Trademark Office 8,562,049.
October 22, 2013.
Abdallah ME, Ihrke CA, Reiland M, Wampler CW, Diftler MA, Platt RJ, Bridgwater LB, inventors;
Torque control of underactuated tendon-driven robotic fingers. United States Patent and
Trademark Office 8,565,918. October 22, 2013.
Reiland M, Hargrave B, Platt RJ, Abdallah ME, Permenter FN, inventors; Architecture for robust
force and impedance control of series elastic actuators. United States Patent and Trademark
Office 8,525,460. September 3, 2013.
Linn DM, Ambrose RO, Diftler MA, Askew SR, Platt RJ, Mehling JS, Radford NA, Strawser D,
Bridgwater LB, Wampler CW, Abdallah ME, Ihrke CA, Reiland M, Sanders AM, Reich DM,
Hargrave B, Parsons AH, Permenter FN, Davis DR, inventors; Humanoid robot. United States
Patent and Trademark Office 8,511,964. 2013 August 20, 2013.
Ihrke CA, Bridgwater LB, Reich DM, Wampler CW, Askew SR, Diftler MA, Nguyen V, inventors;
Dexterous humanoid robotic wrist. United States Patent and Trademark Office 8,498,741. July
30, 2013.