Compliant Surface Robotics

Award Information
Agency:
Department of Defense
Branch
Defense Advanced Research Projects Agency
Amount:
$937,500.00
Award Year:
2002
Program:
SBIR
Phase:
Phase II
Contract:
DAAH01-02-C-R130
Agency Tracking Number:
00SB2-0018
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
Unmanned Systems Technology Laboratory
University of Idaho Research P, Coeur d' Alene, ID, 83814
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
083744271
Principal Investigator:
Dave Stone
President
(208) 765-7648
rioh@rioh.com
Business Contact:
Chuck Riley
VP Business Developement
(208) 765-7648
rioh@rioh.com
Research Institution:
n/a
Abstract
"In Phase I, we conducted exploratory research into hybrid locomotive modalities toward achieving the Compliant Surface Robotics (CSR) goals. We researched technologies and designs that would enable a wheeled vehicle to be integrally designed with activelycontrolled articulated structures to develop a "morphable" vehicle, with over-determined legs, wheels and other motive actuator-articulated structure configurations. We examined scalable degrees of freedom and rapidly narrowed our system design down totwo possible eight-legged, eight-wheeled vehicle configurations, named Spyder. Spyder's mobility exceeds most CSR specifications, as extracted from the Tactical Mobile Robot program and documented in our program performance specification. We achieved ourPhase I objective. We now propose a 24-month effort to conduct advanced development to: - resolve critical design issues, - apply resolution to trade final concepts, -select a viable architecture, - build a fully operation prototype, and - demonstrateperformance against specification requirements. Included within Phase II, we will leverage MEMS sensor and command and control design architectures that we are developing in a separate effort towards a miniature underwater vehicle. Using those advances,we will develop a subset of MEMS based control design for Spyder toward improved endurance by minimizing hotel loads. Spyder will demonstrate weight less than 10 kg, range in excess of

* information listed above is at the time of submission.

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