Compliant Surface Robotics

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: DAAH01-02-C-R130
Agency Tracking Number: 00SB2-0018
Amount: $937,500.00
Phase: Phase II
Program: SBIR
Awards Year: 2002
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
DUNS: 083744271
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Dave Stone
 President
 (208) 765-7648
 rioh@rioh.com
Business Contact
 Chuck Riley
Title: VP Business Developement
Phone: (208) 765-7648
Email: 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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