SENSOR-BASED, WHOLE-ARM MANIPULATION FOR ADAPTIVE GRASPING

Award Information
Agency:
National Aeronautics and Space Administration
Branch:
N/A
Amount:
$497,000.00
Award Year:
1990
Program:
SBIR
Phase:
Phase II
Contract:
N/A
Agency Tracking Number:
10474
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Intelligent Automation Systems
300 Bent St #200, Cambridge, MA, 02141
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
N/A
Principal Investigator
 Dr Steven J Gordon
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
THE PROPOSED PROJECT IS THE DESIGN OF A NOVEL MANIPULATION SYSTEM WHICH CAN CONTROL CONTACTS WITH OBJECTS ALONG ALL SURFACES OF ITS LINKS. THIS WHOLE-ARM MANIPULATION (WAM) SYSTEM IS CAPABLE OF GRASPING AND MANIPULATING A VARIED SET OF OBJECTS FAR LARGER THAN THE SET WHICH MAY BE MANIPULATED BY A CONVENTIONAL ARM USING AN ATTACHED GRIPPER. RECENTLY DEVELOPED TACTILE SENSING TECHNOLOGY AND JOINT-TORQUE SENSING WILL ALLOW THE WAM MANIPULATOR TO CONTROL MULTIPLE CONTACTS STABLY ANYWHERE ALONG ITS LINKS. THE OBJECTIVES FOR PHASE I ARE TO DETERMINE IMPORTANT SPACE AND TERRESTRIALBASED TASKS FOR AN AUTONOMOUS OR TELEROBOTIC HAND/ARM SYSTEM, ASSESS THE STATE OF THE ART IN WHOLE-ARM MANIPULATION AND TACTILE-SENSING TECHNOLOGY, PERFORM ANALYSES AND AN EXPERIMENT ON AN EXISTING WAM MANIPULATOR TODETERMINE THE ACCURACY OF INTEGRATING JOINT-TORQUE AND TACTILE SENSOR INFORMATION TO CONTROL A WAM ARM, AND PROPOSESPECIFICATIONS FOR A WAM SYSTEM DESIGN.

* information listed above is at the time of submission.

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