Toward intelligent system health monitoring for NASA robonaut

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.