Control for the Hardened Underwater Modular Robot Snake
Abstract
Approved for Public Release Hardened Underwater Modular Robot Snake (HUMRS) Neptune Program is a rapid DevOps project to enhance the, underwater snake robots capability toward naval expeditionary sustainment, to provide repairs personnel a revolutionary solution f,or battle-damage assessment and underwater confined-space inspection at the harsh conditions of open ocean, murky water, and hard to, reach spaces. This project aims to develop real-time motion planning algorithms for reaching waypoints in confined spaces, while de,signing feedback control strategies to track planned trajectories in the presence of uncertain dynamics. This 18-month program will, provide the underwater robotic snake system prototype called HUMRS to maneuver in and around confined structures, with four key tec,hnology and robot system demonstrations for ONR and Navy Sponsor. The ultimate goal of this project is to enhance operational readin,ess and sustain ships at peak capability in remote expeditionary settings. Through the progression of this and future programs, our, vision is to have the HUMRS become a fully autonomous multi-functional robotic tool that can be integrated as parts of surface ship,s, submarines, and docks, that is 24/7 deployable, while capable executing missions that cannot be done with existing manned or robo,tic solutions.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- May 16, 2022
- Source ID
- N000142212421
Entities
People
- Howard Choset
Organizations
- Carnegie Mellon University
- Office of Naval Research
- United States Navy