Visually Guided Robotic Hand / Eye Coordination

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