SBIR Phase I: Haptic Robotics for Kitting Powertrain Components

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This Small Business Innovation Research (SBIR) Phase I project proposes that haptic robots offer effective andattractive solutions to the common tasks of Bin-Picking and Kitting, which currently require human workers. Apopular application area is programming an industrial robot to work with specific powertrain parts. TheProblem: Bin-picking robots can only manipulate strong parts with simple geometries in structured or semistructuredconfigurations; machine vision deals poorly with overlapping objects and unstable and unpredictableloads or grips. The Opportunity: Haptic systems can compliment machine vision systems using tactile sensorydata to cope with overlapping objects and unstable grip conditions. The Solution: A robotic hand/armequipped with unique biomimetic tactile sensors to make a platform for developing grip algorithms for partspicking and kitting. Innovations include develop algorithms for slip-detection and force-cone grip adjustment;developing adaptive algorithms using tactile feedback to improve grip pre-shaping; validating algorithms withphysical powertrain parts; and challenging algorithms with real-world uncertainties that are difficult to detectusing machine vision.The broader impact/commercial potential of this project will result in robots that have more humanlike hapticcapabilities. Currently robots lack tactile sensing and rely on specialized component feeders and gripping toolsto handle individual objects with predetermined gripping features. These items add cost, occupy space, andconsume time, especially when many different objects must be handled. This puts robots at a significantdisadvantage to human workers who use their hands dexterously to handle an unlimited variety of objects.Nevertheless, robots are best suited to handle tasks that are highly repetitive or dangerous to humans. Whenrobots handle hazardous materials or manufacturing tasks, they relieve humans of these burdens while oftenyielding increased productivity and cost-savings. At the end of Phase I we will have developed a proof ofconcept so that our Phase II research can integrate the system into an industrial environment. By addressing thepicking of objects with errors in object pose, position and part-to-part interaction, haptic robots will transformthis important part of the manufacturing process. Such technology will have widespread impact on manyaspects of manufacturing and automation.