Shortly after my time with Project Valkyrie was up, I transitioned to working with TRACLabs on Robonaut 2 (R2). Specifically, we have been looking at dual armed tasks. The video above contains the first task we accomplished, which was to perform a sensor based dock of the feet to a graspable surface that R2 will use to maneuver around the International Space Station. Furthermore we have developed novel inverse kinematic solutions (which is demonstrated below), and implemented a novel hough circle transform. Overall the experience has been immensely educational, and we've been able to perform really cool applications with the robot.