Toward intelligent system health monitoring for NASA robonaut

Abstract

This paper presents an intelligent system health monitoring technique for a humanoid robot, Robonaut, which was developed at JSC to be used in space. Robonuut's lower level controller publishes sensor information through NDDS, network middleware, and Self Agent analyzes the data to monitor the status of the robot. A hierarchical system health monitoring {SHM) technique is developed. As a base level of the SHM, a nonlinear model-based observer and a fuzy logic framework are developed to detect faults and identify the fault source in the robot.