Visually Guided Robotic Hand / Eye Coordination

Award Information
Agency:
Department of Defense
Branch
Defense Advanced Research Projects Agency
Amount:
$1,325,000.00
Award Year:
2011
Program:
SBIR
Phase:
Phase II
Contract:
W91CRB-11-C-0095
Agency Tracking Number:
09SB2-0088
Solicitation Year:
2011
Solicitation Topic Code:
SB092-005
Solicitation Number:
2011.2
Small Business Information
Vecna Technologies Inc.
6404 Ivy Lane, Suite 500, Greenbelt, MD, -
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
Y
Duns:
094078958
Principal Investigator:
Daniel Theobald
CTO
(617) 864-0636
theo@vecna.com
Business Contact:
Michael Bearman
VP/General Counsel
(240) 965-4500
mbearman@vecna.com
Research Institution:
Stub




Abstract
The proposed work leverages the prototypes developed in the Phase I project toward refinement of a machine vision system for visually guided manipulation. In Phase II, the machine vision system modules of image feature detection, object detection, pose estimation, and tracking will be generalized to handle a wide range of deformable objects. A new four fingered hydraulic end effector will be fabricated to physically test the effectiveness of a parameterized grasping approach. The Hybrid Mode Estimator, also designed in Phase I, will be implemented to allow for dynamic path planning with respect to a constantly changing environment. to key components of the machine vision system required for visual guided manipulation. The machine vision system is comprised of the following modules: image feature detection, object detection and recognition, pose estimation, and tracking. The focus of the Phase II effort is to optimize and integrate these components into a robust and generalizable system.The machine vision system is comprised of the following modules: image feature detection, object detection and recognition, pose estimation, and tracking.

* information listed above is at the time of submission.

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