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Coordinated Mobile Manipulation for Robotics Material Handling

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: NNX09CB68C
Agency Tracking Number: 070171
Amount: $599,675.00
Phase: Phase II
Program: STTR
Solicitation Topic Code: T5.02
Solicitation Number: N/A
Solicitation Year: 2007
Award Year: 2009
Award Start Date (Proposal Award Date): 2009-06-15
Award End Date (Contract End Date): 2011-06-14
Small Business Information
100 N.E. Loop 410, Suite 520
San Antonio, TX 78216-4727
United States
DUNS: 156753402
HUBZone Owned: No
Woman Owned: Yes
Socially and Economically Disadvantaged: Yes
Principal Investigator
 David Kortenkamp
 Principal Investigator
 (281) 461-7884
Business Contact
 Bruce Dunson
Title: President
Phone: (210) 822-2210
Research Institution
 Carnegie Mellon University
 Not Available
5000 Forbes Avenue
Pittsburgh, PA 15213
United States

 (412) 268-8746
 Domestic Nonprofit Research Organization

Robots will play an important role in NASA's exploration activities over the next several decades. They will land on the Lunar surface ahead of humans and help prepare for human exploration. They will explore the Lunar surface, build structures and move regolith. As humans arrive these robots will shift to assisting humans in exploration activities. All of these activities require a new generation of robotic vehicles -- ones capable of flexible, dexterous manipulation -- that can work in closely coordinated teams. This work focuses on coordinating the use of mobility and manipulator degrees of freedom to achieve a common manipulation purpose. We coordinate multiple mobile manipulators so as to achieve a common goal, such as grasping or manipulating an object so that it can be transported or mated. The coordinated control architecture has four components: 1) motion planning for cooperative mechanisms; 2) task sequencing and monitoring; 3) coordinated control; and 4) operator interfaces for robot teams. The architecture will be evaluated with respect to an assembly scenario implemented both in simulation and using several mobile manipulation robots.

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

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