Robust Algorithm for Aquiring and Interpreting Contact Data via Active Robot Expansion

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9361481 Townsend A new generation of robots with high-bandwidth, backdrivable transmissions driven by high-performance brushless DC motors presents the opportunity for improving the flow of force data back to the controller without additional force sensors. This research will develop an algorithm for determining contact geometry, to be used as feedback to the controller or teleoperator. The algorithm will complement existing force-sensor and tactile-sensor techniques which offer improved accuracy, but otherwise limit the responsiveness and stability of the system. The proposed research will compile a set of prototype force-control tasks, determine the special kinematic equations necessary to calculate contact force vectors, develop a mathematical and graphical representation of the contact geometries, determine the best implementation algorithm for the required speed, and outline specifications for experimental development in Phase II. The result of this research will be faster, more dexterous robots which relay greater information about the process than existing robot systems. US companies, such as Adept and Barrett Technology, have helped lead the international community in backdrivable robotic hardware development. By improving the control algorithms to capitalize on these hardware improvements, the US should retain its competitive lead in this area of robotics.