J
Joshua S. Mehling
Researcher at General Motors
Publications - 21
Citations - 1124
Joshua S. Mehling is an academic researcher from General Motors. The author has contributed to research in topics: Humanoid robot & Robot. The author has an hindex of 9, co-authored 21 publications receiving 999 citations.
Papers
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Proceedings ArticleDOI
Robonaut 2 - The first humanoid robot in space
Myron A. Diftler,Joshua S. Mehling,Muhammad E. Abdallah,Nicolaus A. Radford,Lyndon Bridgwater,Adam M. Sanders,R. S. Askew,Douglas Martin Linn,John D. Yamokoski,F.A. Permenter,Brian Hargrave,Robert W. Platt,R.T. Savely,Robert O. Ambrose +13 more
TL;DR: R2's integrated mechatronic design results in a more compact and robust distributed control system with a fraction of the wiring of the original Robonaut, making it a far more valuable tool for astronauts.
Journal ArticleDOI
Valkyrie: NASA's First Bipedal Humanoid Robot
Nicolaus A. Radford,Philip A. Strawser,Kimberly Hambuchen,Joshua S. Mehling,William K. Verdeyen,A. Stuart Donnan,James Holley,Jairo Sanchez,Vienny Nguyen,Lyndon Bridgwater,Reginald B. Berka,Robert O. Ambrose,Mason M. Markee,Nathan Fraser-Chanpong,Christopher McQuin,John D. Yamokoski,Stephen Hart,Raymond Guo,Adam H. Tulsa Parsons,Brian J. Wightman,Paul Dinh,Barrett Ames,Charles Blakely,Courtney Edmondson,Brett Sommers,Rochelle Rea,Chad Tobler,Heather Bibby,Brice Howard,Lei Niu,Andrew G. Lee,Michael Conover,Lily Truong,Ryan Reed,David Chesney,Robert W. Platt,Gwendolyn Johnson,Chien-Liang Fok,Nicholas Paine,Luis Sentis,Eric A. Cousineau,Ryan W. Sinnet,Jordan Lack,Matthew J. Powell,Benjamin J. Morris,Aaron D. Ames,Jide Akinyode +46 more
TL;DR: A brief system overview is presented, detailing Valkyrie's mechatronic subsystems, followed by a summarization of the inverse kinematics-based walking algorithm employed at the Trials, and some closing remarks are given about the competition.
Journal ArticleDOI
Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots
Nicholas Paine,Joshua S. Mehling,James Holley,Nicolaus A. Radford,Gwendolyn Johnson,Chien-Liang Fok,Luis Sentis +6 more
TL;DR: The actuator-level control of Valkyrie, a new humanoid robot designed by NASA's Johnson Space Center in collaboration with several external partners, is discussed and a decentralized approach is taken in controlling Valkyrie's many series elastic degrees of freedom.
Patent
Rotary series elastic actuator
Chris A. Ihrke,Joshua S. Mehling,Adam H. Parsons,Bryan Kristian Griffith,Nicolaus A. Radford,Frank Noble Permenter,Donald R. Davis,Robert O. Ambrose,Lucien Q. Junkin +8 more
TL;DR: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot as mentioned in this paper, which includes a plurality of arm support frames each defining an axis.
Proceedings ArticleDOI
Centaur: NASA's Mobile Humanoid Designed for Field Work
TL;DR: The Centaur is a new mobile, dexterous manipulation system designed with this future role in mind that combines the sophisticated upper body dexterity of NASA's humanoid, Robonaut, with a rugged and versatile four-wheeled base.