Fundamental Research in Coordinated Manipulation
Abstract
In this work, we propose novel fundamental research to enable cooperative robotic manipulation in challenging environments. To achie,ve this goal, we will focus on research areas in multi-arm coordination, reactive tactile sensing, and semantic decision support tha,t are currently lacking in the literature. We envision a system of multiple semi-autonomous manipulator arms capable of performing c,omplex manipulation tasks (e.g. hull cleaning, pier maintenance, and environmental sampling) in complex environments with poor visib,ility and high levels of sensing noise. The envisioned command and control (C2) station will accept high-level semantic language mis,sion descriptions and parameters that are decomposed into plays from which planners can develop commands to be executed using advanc,ed tactile sensors built in polymer materials. Such a system has the potential to improve the efficiency and flexibility of manipula,tion tasks, substantially reduce workload and training requirements, and enable the completion of tasks in environments where dexter,ous manipulation is not currently possible due to poor perception conditions and lack of qualified operators.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 14, 2022
- Source ID
- N000142212114
Entities
People
- Geoffrey A. Hollinger
Organizations
- Office of Naval Research
- Oregon State University
- United States Navy