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Coordinated Mobile Manipulation for Robotics Material Handling

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: NNX08CD40P
Agency Tracking Number: 070171
Amount: $99,953.00
Phase: Phase I
Program: STTR
Solicitation Topic Code: T5.02
Solicitation Number: N/A
Solicitation Year: 2007
Award Year: 2008
Award Start Date (Proposal Award Date): 2008-02-06
Award End Date (Contract End Date): 2009-02-05
Small Business Information
8620 North New Braunfels, Suite 603
San Antonio, TX 78217-4486
United States
DUNS: 156753402
HUBZone Owned: No
Woman Owned: Yes
Socially and Economically Disadvantaged: Yes
Principal Investigator
 Sanjiv Singh
 Principal Investigator
 () -
Business Contact
 Jonathan Fast
Title: Business Official
Phone: (210) 822-2310
Research Institution
 Carnegie Mellon University
 Not Available
5000 Forbes Avenue
Pittsburgh, PA 15213
United States

 (412) 268-1161
 Domestic Nonprofit Research Organization

Robots will be precursors to human exploration of the lunar surface. They will be expected to prepare the lunar surface for human habitation as well as conduct scientific investigations. As humans arrive, first for short-term stays, the robots should be able to shift to providing direct assistance to human exploration activities. Such tasks require a new generation of robotic vehicles – a generation that has flexible, dexterous manipulation that can be scaled to include teams of machines. Since it will be impossible to tightly script complex operations ahead of time, it will be essential for planetary robots to be effective in unmodeled environments and unanticipated situations. Our proposal addresses four fundamental areas in mobile manipulation: 1) Motion Planning for Cooperative Mechanisms; 2) Task Sequencing & Monitoring; 3) Coordinated Control of Redundant Mechanisms; and 4) Human Robot Interface. Together, these innovations will create robots that can accomplish a wide variety of tasks to support NASA's exploration missions. We will demonstrate our approach using scenarios that involve several mobile robots with dexterous manipulators moving and assembling structures on the lunar surface and being supervised by remote operators.

* Information listed above is at the time of submission. *

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