Grant: Research Tools and Instruments - Category 1 (<$150,000)
Ryerson University
$61,585.00
A compact and light-weight modular robot for safe and reliable operations in unstructured environment
FY 2010-11
Summary
Robotics is currently expanding rapidly to human and space environments, generating new research challenges as robots attempt to interact, assist, serve, and explore with humans. Synergetic integration of dexterous and safe robotic arms with high performance mobile platforms is essential in tackling the challenges. In concert with the robotics technology advancement, the proposed compact light-weight modular robot is to support research to develop enabling techniques for mobile manipulators that can work safely and efficiently in unstructured human or space environment. The new techniques to be developed include design and control methods for 1) intelligent multiple mode mobile manipulator control for door opening; 2) spring assisted dexterous and safe onboard robotic arm development and control; 3) mobile robot slippage estimation and compensation, and tip-over prediction and prevention; 4) onboard arm assisted micro rover control for space sample acquisition; 5) health monitoring and fault detection including collision detection; and 6) hybrid motion system that combines macro mobile manipulator with a micro robot arm for large range precise motion control. Tackling these challenging research issues, the applicant, co-applicant and their research groups will expand and integrate several fundamental robot design and control strategies being developed, including multiple mode control, spring assisted manipulation, active beacon based control of navigation and sample acquisition, force measurement and balancing based tip-over prevention, and power efficiency estimation based health monitoring. The research activities using the proposed robot has the potential to generate unique ways to design and control mobile manipulators for working in unstructured environments, leading to high quality research contributions and providing solutions to problems directly faced by Canadian industry and space exploration missions. Several students will be involved in the design and construction of the proposed robot, which itself represents significant training opportunities in addition to research activities to be supported by the proposed robot.
Program
Research Tools and Instruments - Category 1 (<$150,000)
Recipient
Location
Ontario, Canada
Recipient Type
Academia
Type
Grant
Source
NSERC's Awards Data
As published
Application id
407845-2011
Name nom
Liu, Guang
Department département
Aerospace Engineering
Organization id
43
Institution établissement
Ryerson University
Province en
Ontario
Province fr
Ontario
Country en
CANADA
Country fr
CANADA
Fiscal year exercice financier
2010
Competition year année de concours
2011
Award amount
61585
Program id
EQPEQ
Program name en
Research Tools and Instruments - Category 1 (<$150,000)
Program name fr
Outils et instruments de recherche - catégorie 1 (<150 000$)
Group en
Discovery grants programs
Group fr
Programmes de subventions à la découverte
Committee code
1512
Committee name en
Mechanical Engineering
Committee name fr
Génie mécanique
Area of application code
516
Area of application group en
Manufacturing processes and products
Area of application group fr
Procédés et produits industriels
Area of application en
Mechanical machinery, heavy equipment (including farm, forestry, and construction equipment)
Area of application fr
Machinerie mécanique, machinerie lourde (y compris machinerie agricole, forestière, de construction)
Research subject code
2601
Research subject group en
Robotics
Research subject group fr
Robotique
Research subject en
Robotic control
Research subject fr
Systèmes de commande
Partie
1
Nb partie
1
Application title
A compact and light-weight modular robot for safe and reliable operations in unstructured environment
Keyword
NSERC
Application summary
Robotics is currently expanding rapidly to human and space environments, generating new research challenges as robots attempt to interact, assist, serve, and explore with humans. Synergetic integration of dexterous and safe robotic arms with high performance mobile platforms is essential in tackling the challenges. In concert with the robotics technology advancement, the proposed compact light-weight modular robot is to support research to develop enabling techniques for mobile manipulators that can work safely and efficiently in unstructured human or space environment. The new techniques to be developed include design and control methods for 1) intelligent multiple mode mobile manipulator control for door opening; 2) spring assisted dexterous and safe onboard robotic arm development and control; 3) mobile robot slippage estimation and compensation, and tip-over prediction and prevention; 4) onboard arm assisted micro rover control for space sample acquisition; 5) health monitoring and fault detection including collision detection; and 6) hybrid motion system that combines macro mobile manipulator with a micro robot arm for large range precise motion control. Tackling these challenging research issues, the applicant, co-applicant and their research groups will expand and integrate several fundamental robot design and control strategies being developed, including multiple mode control, spring assisted manipulation, active beacon based control of navigation and sample acquisition, force measurement and balancing based tip-over prevention, and power efficiency estimation based health monitoring. The research activities using the proposed robot has the potential to generate unique ways to design and control mobile manipulators for working in unstructured environments, leading to high quality research contributions and providing solutions to problems directly faced by Canadian industry and space exploration missions. Several students will be involved in the design and construction of the proposed robot, which itself represents significant training opportunities in addition to research activities to be supported by the proposed robot.
