  As part of a feasibility study, this paper shows the NASA Valkyrie humanoid
robot performing an end-to-end improvised explosive device (IED) response task.
To demonstrate and evaluate robot capabilities, sub-tasks highlight different
locomotion, manipulation, and perception requirements: traversing uneven
terrain, passing through a narrow passageway, opening a car door, retrieving a
suspected IED, and securing the IED in a total containment vessel (TCV). For
each sub-task, a description of the technical approach and the hidden
challenges that were overcome during development are presented. The discussion
of results, which explicitly includes existing limitations, is aimed at
motivating continued research and development to enable practical deployment of
humanoid robots for IED response. For instance, the data shows that operator
pauses contribute to 50\% of the total completion time, which implies that
further work is needed on user interfaces for increasing task completion
efficiency.
