NASA Telerobotics Program Technology Catalog

Robotics Technology Catalog

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Robotics Technologies

Sensing and Perception

Contact/force sensors - 0201-0219

0201. FTS force-torque sensor
0202. Space Shuttle RMS force-torque sensor
0203. Grasping- Force Sensor for Robot Hand
0204. Touch sensor for robots
0205. Touch sensor responds to contact pressure
0207. Adaptive elevation map correction

Vision systems - 0220-0239

0220. Position estimation using visual landmarks
0221. Machine-Vision for Surface Inspection
0222. Perception for rock sampling
0223. STAR Infrared Thermal Imaging System
0224. Omniview: Electronic Aim and Zoom Camera
0225. Machine Vision Guidance for Automated Assembly
0226. EVAR Video Tracking and Object Pose Estimation
0227. Range sensing from wide field-of-view stereo vision
0228. Robby stereo correlation algorithms
0229. Trinocular Stereo Vision
0230. Robotic-Vehicle Perception Control for Detecting Obstacles

Laser scanners - 0240-0259

0240. Terrain mapping using laser rangefinder
0241. Spherical laser scanner for mobile robot applications
0242. Scanning Coherent Laser Radar (CLR) inspector
0243. Rocky IV laser striping system
0244. High precision FMCW laser scanning system
0250. GPS for precision robot control

Proximity sensors - 0260-0279

0260. Capaciflector sensor
0261. Digital capaciflector enhancements
0262. 3-D Guidance System With Proximity Sensors
0263. Distributed optical proximity sensor system: HexEYE
0264. Proximity indicator for remote manipulator
0265. Optoelectronic Proximity Sensor Finds Edges
0266. Capaciflector Camera
Planning and Reasoning

0301. Self-motion manifolds of redundant manipulators
0302. Gait generation for orthogonal legged robots
0303. Fast planners for finding collision-free robot paths
0304. Planning and Reasoning for a Telerobot
0305. Neural Network Classifies Teleoperation Data
0306. Backward Assembly Planning With DFA Analysis
0307. Planning Control With Qualitative Reasoning
0308. Automated Collision Free Path Planning
0309. Semi-autonomous navigation
Control Execution

0401. Modular Telerobot Task Execution System
0402. Increasing the Dexterity of Redundant Robots
0403. Dead reckoning for walking robots
0404. Dual-Arm Generalized Compliance With Shared Control
0405. Single-controller dual-arm operations
0406. Autonomous omni-directional wheel control
0407. Vision-based control for automated assembly
0408. Natural transition from rate to force control
0409. Coordinated Control of Mobile Robotic Manipulators
0410. Adaptive Control of Remote Manipulator
0411. Adaptive Force and Position Control for Robots
0412. Adaptive Control for Cooperative Dual Arm Robots
0413. Decentralized Adaptive Control for Robots
0414. Robot Arm Dynamic Control by Computer
0415. Simplified Dynamic Control of Redundant Manipulators
0416. Computational Simplification of Robot-Arm Dynamics
0417. Parallel-Processing Algorithms for Dynamics
0418. Active Compliance and Damping in Manipulator Control
0419. Efficient Computation of Manipulator Inertia Matrix
0420. Inversion of Jacobian Matrix for Robot Manipulators
0421. Generating Smooth Motions for Robotic Manipulators
0422. Simplified Linear Multivariable Control of Robots
0423. Robust, High-Performance Control for Robotic Manipulators
0424. Multivariable PID Controller for Robotic Manipulator
0425. Digital Controller for a Remote Manipulator
0426. A Generalized-Compliant-Motion Primitive
0427. Control Structures Interaction Technology for RMS
0428. Extended-Task-Space Control for Robotic Manipulators
0429. Schilling Hydraulic Manipulator Controller
0430. Autonomous Walking
0431. Behavioral walking algorithm
0432. Force distribution and control of walking robots
0433. Unified Approach to Control of Motions
0434. Blending Velocities in Task Space in Computing Robot Motions
Mechanisms

End effectors - 0501-0520

0501. Integrated Sensor End Effector for Remote Inspection
0502. Exoskeleton end-effector
0503. End Point Control Unit
0504. Highly efficient walking mechanism
0505. Two Thumbed Robot Hand
0506. Remote Hand With Data-Processing Ability
0507. Improved "Smart" Robot Hand
0508. FTS end effector design
0509. Robotic rock sample acquisition
0510. Tesselator end effector
0512. Smart hand

Manipulators - 0521-0540

0521. Self-reconfigurable two-arm manipulator
0522. Serpentine manipulator for remote inspection
0523. Variable Geometry Truss manipulator
0524. Space Modular Manipulators
0524. Tether cable tension sensing for mobile robots
0525. Compact OEM-component redundant actuation

Components - 0541-0560

0541. Advanced robot joint
0542. Dante Joint controller
0543. Trip roller clutch
0544. WAM/WAF
0545. FTS flat cables
0546. FTS controllers
0547. Intelligent tethering system for mobile robotics

Mobility - 0561-0580

0561. Bickler pantograph rover suspension system
0562. Drivetrain optimization for walking mechanisms
Operator Interface

0601. Predictive display interface systems
0602. Remote Robot Control With High Force-Feedback Gain
0603. Virtual reality terrain reconstruction
0604. Telepresence robot control
0605. Object-Based Task-Level Control
0606. Telerobot hand controller evaluation
0607. Flat Docking Target
0608. Ground-Remote Telerobotics Technologies
0609. Exoskeleton-based telepresence
System Architecture and Integration

Systems - 0701-0720

0701. Architecture for Intelligent Robotic Control
0702. Algorithmically Parallel Architecture for Robotics
0703. KALI system for research on multi-arm robots
0704. TCA task level communications and control
0705. Inductive thermal bonding system
0707. Tracking & Capture of Free-Floating Object
0708. Manipulation of Free-Floating Objects
0709. Generalized Assembly of Floating Objects
0710. AMBLER autonomous orthogonal legged walking robot
0711. Daedalus autonomous planetary exploration robot
0711. Real-Time Planning and Control
0712. Multiple interacting robots
0716. Automated servicing with collision avoidance

Architectures - 0721-0740

0721. Quantitative Evaluation of Teleoperator Performance
0722. Frequency Analysis of Data on Telerobotic Tasks

Evaluations - 0741-0760

Spin-Out Products

0901. Robot Geometry Calibration
0902. Per-Force hand controller
0903. Robot Assisted Micro-Surgery
0904. Robot Assist in Brain Surgery
0905. Robotics Architecture for Aircraft Remanufacturing
0906. Hazardous Materials Robot Operator Control Panels
0907. Virtual Reality Calibration Technology
0908. Direct adaptive control of an industrial robot
0909. Redundant arm control algorithms
0910. TelRIP robotic control architecture
0911. Agricultural robotics
0912. Omni-wrist
0913. Control Shell
0914. TAYCO flat cable production
0915. Video and data telemetry system
0916. Real-Time Control Development Tools
0917. Integrated cooling towers and Ross-Heim wrist
0918. UPS system for mobile robots
0919. Intelligent tethering system for mobile robotics
0920. High efficiency geartrains
0921. Multi-function rappelling tether cable

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Maintained by: Dave Lavery
Last updated: September 19, 1997