A Planning and Control Toolkit for Dual Arm Manipulation

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: NNX12CE96P
Agency Tracking Number: 115813
Amount: $124,102.00
Phase: Phase I
Program: SBIR
Awards Year: 2012
Solicitation Year: 2011
Solicitation Topic Code: X7.02
Solicitation Number: N/A
Small Business Information
TX, San Antonio, TX, 78216-6363
DUNS: 193786014
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Robert Burridge
 Principal Investigator
 (281) 461-7886
 burridge@traclabs.com
Business Contact
 David Kortenkamp
Title: President
Phone: (281) 461-7886
Email: korten@traclabs.com
Research Institution
 Stub
Abstract
It is often difficult to create autonomous robotic capabilities thatmatch what can be achieved via teleoperation. Even though it ismechanically possible for a humanoid robot such as Robonaut 2 toperform complex coordinated tasks such as tying a knot, exchangingobjects between end effectors, plugging in connectors, unscrewing acap, opening a door, or grasping large objects with two hands, ourlack of planning algorithms makes it difficult to control thesebehaviors autonomously. The lack of planning and control algorithmsalso impedes human-robot interaction as it is difficult formanipulation robots to plan arm trajectories in real-time using activesensing to avoid collisions with humans. This proposal is to develop asuite of planning and control algorithms that will enable NASA robotsto perform complex manipulation behaviors in a coordinated way. Thiswork would benefit NASA by making NASA robots more capable and usefulduring autonomous tasks and by enabling NASA robots to operatealongside humans during tasks that are shared between humans androbots.

* Information listed above is at the time of submission. *

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