NASA’s R5 aka Valkyrie was designed and built by the Johnson Space Center (JSC) Engineering Directorate to compete in the 2013 DARPA Robotics Challenge (DRC) Trials. Valkyrie, a name taken from Norse mythology, is designed to be a robust, rugged, entirely electric humanoid robot capable of operating in degraded or damaged human-engineered environments. Building on prior experience from designing Robonaut 2, the JSC Valkyrie team designed and built this robot within a 15 month period, implementing improved electronics, actuators and sensing capability from earlier generations of JSC humanoid robots.