A Planning and Control Toolkit for Dual Arm Manipulation

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$677,170.00
Award Year:
2013
Program:
SBIR
Phase:
Phase II
Contract:
NNX13CJ45C
Agency Tracking Number:
115813
Solicitation Year:
2011
Solicitation Topic Code:
X7.02
Solicitation Number:
n/a
Small Business Information
TRACLabs, Inc.
TX, San Antonio, TX, 78216-1234
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
193786014
Principal Investigator:
Robert Burridge
Principal Investigator
(404) 217-1805
burridge@ieee.org
Business Contact:
David Kortenkamp
President
(281) 461-7886
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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