Semi-Autonomous Manipulator Control Using 2D and 3D Scene Recognition

Award Information
Agency: Department of Defense
Branch: Army
Contract: W56HZV-11-C-0200
Agency Tracking Number: A2-4366
Amount: $729,806.00
Phase: Phase II
Program: SBIR
Awards Year: 2011
Solicitation Year: 2009
Solicitation Topic Code: A09-187
Solicitation Number: 2009.3
Small Business Information
Autonomous Solutions, Inc.
990 North 8000 West, Petersboro, UT, -
DUNS: 02-186-67
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Matt Berkemeier
 Senior Control Engineer
 (435) 755-2980
 matt.berkemeier@autonomoussolutions.com
Business Contact
 Chris Brown
Title: Business Development Mana
Phone: (435) 755-2980
Email: chris.brown@autonomoussolutions.com
Research Institution
 Stub
Abstract
Autonomous Solutions, Inc. (ASI) has teamed with Johns Hopkins Universitys Laboratory for Computational Sensing and Robotics (LCSR) to continue its Phase I development of autonomous manipulation and grasping behaviors for robotic manipulators. The team will continue the Phase I effort to engineer a system which will: Rely primarily on low-cost and ubiquitous monocular vision to allow for positioning of a robotic end effector to a point of interest identified by a user, Use computationally light grasp planning algorithms to grasp objects of interest, Use structure-from-motion algorithms to enable path planning and obstacle avoidance as well as to generate 3D points on the object of interest for more robust grasping and manipulation, Use monocular vision-based techniques for scene parsing and understanding which will enable a user to: o Easily select an object of interest using verbal commands, o Preview and easily adjust the robots intended grasp plan, o Invoke manipulation behaviors (such as pick-and-place and use of tools) based on a database of recognized objects.

* information listed above is at the time of submission.

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