A Planning and Control Toolkit for Dual Arm Manipulation

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: NNX13CJ45C
Agency Tracking Number: 115813
Amount: $677,170.00
Phase: Phase II
Program: SBIR
Awards Year: 2013
Solicitation Year: 2011
Solicitation Topic Code: X7.02
Solicitation Number: N/A
Small Business Information
TRACLabs, Inc.
TX, San Antonio, TX, 78216-1234
DUNS: 193786014
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Robert Burridge
 Principal Investigator
 (404) 217-1805
 burridge@ieee.org
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 that match what can be achieved via teleoperation. Even though it is mechanically possible for a humanoid robot such as Robonaut 2 to perform complex coordinated tasks such as tying a knot, exchanging objects between end effectors, plugging in connectors, unscrewing a cap, opening a door, or grasping large objects with two hands, our lack of planning algorithms makes it difficult to control these behaviors autonomously. The lack of planning and control algorithms also impedes human-robot interaction as it is difficult for manipulation robots to plan arm trajectories in real-time using active sensing to avoid collisions with humans. This proposal is to develop a suite of planning and control algorithms that will enable NASA robots to perform complex manipulation behaviors in a coordinated way. This work would benefit NASA by making NASA robots more capable and useful during autonomous tasks, by enabling remote supervisors to command more complex tasks, and by enabling NASA robots to operate safely alongside humans during shared tasks.

* information listed above is at the time of submission.

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