Field deployable, bimanual mobile manipulator system for research on haptics-enabled dexterous manipulation
Abstract
The aim of this proposal is to develop a field deployable, bimanual mobile manipulator system forresearch on haptics-enabled dexterous manipulation. The one-of-a-kind, next-generationmanipulation system will support new research directions to advance methods for whichteleoperated robot manipulators are used to support military and civil defense missions, and tosafeguard our nation~s servicemen. Current fielded manipulators only have a single arm andgripper, which limits dexterity and strength. We will conduct research to develop bimanualmanipulation capabilities on par with those of humans, but in a manner that does not increase thecognitive burden on the operator. State-of-the-art shared autonomy approaches rely on computervision, motion planning, and teleoperated control without the consideration of forces. Such controlis inherently difficult since the operator cannot feel the consequences of his/her actions; difficultyonly increases when visual feedback is limited or absent.What distinguishes the proposed system is its novel, multisensory suite. The system consists of abimanual manipulator and wheeled mobile base that are well-accepted by the ONR and Armyexplosive ordnance disposal (EOD) communities for dismounted missions. The robot will haveforce/torque sensor-equipped wrists and a tri-modal 3D range sensor ~head,~ as on humanoidrobots in the DARPA Robotics Challenge. The PI will provide adaptive robot grippers andmultimodal tactile sensors from her current ONR-supported research program. The multisensoryintegration of computer vision, tactile, proprioceptive, and force/torque data will enable thedevelopment of novel, human-in-the-loop, feedback control schemes.A highly sensorized bimanual mobile manipulator could advance above-ground and underwaterEOD, vehicle checkpoint and search, perimeter search and clearance, handling of highconsequencematerials, and space missions. The proposed system will enhance UCLA~seducational infrastructure by facilitating training for high school, undergraduate, graduate, andpostdoctoral and visiting researchers to develop creative yet practical solutions that DoDstakeholders deem useful.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 04, 2017
- Source ID
- N000141712182
Entities
People
- Veronica J. Santos
Organizations
- Office of Naval Research
- United States Navy
- University of California, Los Angeles