Development of enabling techniques for mobile manipulators to operate safely and reliably in unstructured human and space environments

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The focus of robotics is expanding and shifting rapidly from industrial to human and space applications, with an attendant move from structured to unstructured environments. This creates new research challenges as robots attempt to assist, serve and explore with (and for) humans. To tackle the challenges, researchers must develop dexterous robotic arms integrated with high-performance mobile platforms so that they perform synergistically. With the shift in focus, safety has also become a concern and calls for new technologies to build safe robots. Based on recent achievements in the applicant's research group, the proposed research program is to develop enabling techniques for mobile manipulators that can operate safely and efficiently in unstructured human or space environment. The applicant and his group will synthesize and experimentally investigate mobile manipulator design and control methods for 1) intelligent multiple mode mobile manipulator control for door opening; 2) 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) mobile manipulator power management. Tackling these challenging research issues, the proposed research program will expand and integrate several fundamental robot design and control strategies that are being developed in the applicant's research group, including multiple mode control, spring assisted manipulation, active feature based control of micro rover sample acquisition, slippage compensation and tip-over prevention, and power efficiency estimation based health monitoring. The proposed research program will generate innovative and practical ways to design and control mobile manipulators for working in unstructured human or space environments, leading to high-quality research contributions and providing practical solutions to mobile manipulator problems on earth and in space. Rich training opportunities will be provided to the highly qualified personnel involved in this research program.