Dexterous Manipulation for Non-Line-of-Sight Articulated Manipulators

During Phase II period, Hstar Technologies plan to prototype an advanced telepresence robotic dexterous manipulator dMan system for enhancing the capabilities of autonomous container loading and unloading process operation at battlefield. The proposed dMan system will 1) provide advanced dexterous manipulation and sufficient strength to open doors and load/unload container boxes over 300 lbs, 2) navigate intelligently with a mobile holonomic drive, 3) work safely and robustly in telepresence mode and local autonomous mode, and 4) perform reliably under inclement conditions. Hstar will develop an enhanced Electric motor Hydraulic transmission Series Elastic Actuator (EHSEA) based humanoid manipulator system that is capable of advanced dexterous manipulation, haptic feedback and safe operation with local autonomous control as well as telepresence operation control. This dMan system will be capable of complex dexterous manipulation such has container door opening, and will be strong enough to load/ unload container boxes over 300 lbs. In addition, the dMan’s mobile robotic platform will provide holonomic control capable of full maneuverability using omni-directional wheel technology. Our telepresence operation control and local autonomous control will provide safe and robust operation in the ISO container applications in conjunction with available technologies.