Conformal End Effector (CE2)
Customer: NAVEODTECHDIV & RTC

The goal of this program is to develop a hand-like end-effector with the strength to lift a 155mm shell, the agility needed to perform delicate maneuvers such as removing a blasting cap from C4, and a total weight to allow the system to be employed by manipulators on small robots in the 164-pound weight class. The overall objective is to provide an end-effector for the manipulation systems onboard the next generation of unmanned ground vehicles (UGVs).

Autonomous Robotic Manipulator (ARM)
Customer: DARPA

The Defense Advanced Research Projects Agency (DARPA) recently announced a major new initiative, the ARM program, to create robotic autonomous manipulators that mimic human arms and hands.  DARPA has contracted RE2, Inc., to integrate and provide the Government Furnished Equipment (GFE) for numerous research teams for this multi-year robotics research program. The goal of the program is to surpass the performance of manipulation tasks currently performed by remote manipulation systems that are controlled directly by a human operator. DARPA’s overall technical objective for the ARM program is to enable high-level control of “hands on” contact tasks, with the manipulation system following a high-level script and performing low-level subtasks on its own.  For example, autonomously control high-degree-of-freedom robotic arm(s), wrist(s) and hand(s) to grasp and manipulate objects to perform tasks such as using hand tools.

Modular Intelligent Manipulation System with Intuitive Control (MIMIC)
Customer: US Army TARDEC
Phase I SBIR

During the six-month Phase I SBIR, RE2 will conduct research to determine viable and intuitive control methods and devices to manipulate robotic arms. RE2 will also design a dexterous end-effector with force feedback and conduct a camera study to ensure that the system will have improved visual feedback over existing manipulation systems.

RE2’s proposed innovative design is expected to significantly increase the effectiveness of robotic manipulators on unmanned ground vehicles (UGVs) by giving the robot operator the sensation that his or her arm is actually manipulating an object. 

Force and Tactile Sensing Based Manipulation Technology
Customer: NAVEODTECHDIV & RTC

The purpose of this project is to develop a complete robotic manipulator system, equipped with force/torque sensors, that is controlled by a novel, high-performance 6-axis haptic controller – the Maglev 200 manufactured by Butterfly Haptics.  The system will provide the remote operator with the direct sensation of the forces and torques that are being experienced at the working end of the manipulator (the “end-effector”) as well as at the fingers of a gripper when grasping or manipulating an object. The main objective of this system is to demonstrate how the use of force feedback with intuitive, haptic control in Cartesian space (as opposed to “joint-by-joint” control) can significantly improve the speed, dexterity, and proficiency of the manipulator operator. The use of Cartesian space motion control, real-time force feedback, and haptic control will greatly improve the current performance of robots, especially when performing more complex tasks, such as digging for buried objects, running a chemical swab over an item to obtain a sample, drilling an access hole into a vehicle, or inserting objects into tightly constrained spaces (e.g. a camera into a hole or a key into a lock).

Robotic Door-Opening Kit
Customer: US Army TARDEC
Phase I SBIR

Military and Law Enforcement groups are increasingly relying on UGVs to perform life-threatening tasks such as urban reconnaissance operations or neutralizing domestic bomb threats, which require access to commercial buildings or private homes.  During such missions the ability of currently fielded robots to open doors is time-consuming for some UGVs and, due to mechanical and control limitations, nearly impossible for other UGVs.  Although some expert operators may be able to use currently fielded UGVs to open doors, the task typically requires careful, fully-committed attention, which increases user fatigue, total mission duration, and time-on-target.

The goal of this SBIR is to develop, implement, and test the core mechanical and sensing technologies that are required for autonomous door opening and breaching by a robotic mobile manipulator. This effort will cumulate with a demonstration of a mobile robot platform with advanced door-opening manipulation capabilities approaching a closed door, opening it, and successfully moving through the doorway, all without human control or intervention.

High Speed Inspection Robot with Manipulator Arm
Customer: US Army TARDEC
Phase II SBIR

re, Inc. has been awarded a Phase II SBIR program by the U.S. Army to further develop a small, high-speed, highly maneuverable unmanned ground vehicle (UGV) with a manipulator arm.

Existing small UGV platforms range from fast reconnaissance vehicles with simple payloads to slower EOD vehicles with limited mobility and complex manipulators. The goal of the High Speed Inspection Robot (HSIR) program is to bridge the gap between the two by developing a fast, agile UGV with a manipulator arm.

During the 18-month Phase II SBIR, RE2 will develop and demonstrate a small high-speed inspection robot with a manipulator arm. The specifics of the Phase II program include:

• Create a prototype of the HSIR platform;
• Integrate the HSIR with a JAUS-based Operator Control Unit (OCU);
• Integrate a plug-n-play manipulator arm;
• Test the HSIR with soldier operators in outdoor environments.

Dexterous Manipulation System
Customer: NAVEODTECHDIV
Phase II SBIR

The goal of this SBIR program is to develop a dexterous manipulation system that can grip a blasting cap or wire protruding from a target and remove the item by pulling straight back, without moving the robot base or damaging the item griped. The system should also be able to pick up a wire or blasting cap from the ground. Robotic control for these tasks must be accomplished by either a human operator
viewing the scene remotely and controlling the manipulator, an autonomous controller, or some combination of the two.

During the eighteen--month Phase II, RE2 will do the following:

• Develop and fabricate a practical prototype of a high degree-of-freedom dexterous manipulator for EOD and other missions requiring fine manipulation capabilities;
  
• Improve the situational awareness of the operator when controlling the dexterous manipulator from a remote, non-line-of-sight, location;
  
• Develop intelligent control strategies to allow the user to easily command the manipulator that improves upon the current method of primitive joint-by-joint control;
  
• Develop advanced sensor feedback capabilities, including force and tactile feedback, to assist the operator with delicate operations.

Robotic Nursing Assistant
Customer: US Army TATRC
Phase II SBIR

Phase II SBIR contract grant was awarded by the U.S. Army's Telemedicine and Advanced Technology Research Center (TATRC) to develop and fabricate a practical prototype of the Robotic Nursing Assistant.

RE2's concept combines a hospital-proven robotic platform, dexterous manipulators similar to human arms, and intuitive control interfaces to provide a practical implementation of the Robotic Nursing Assistant (RNA). The resultant RNA will serve as an extension of the nurse when performing physically challenging maneuvers such, as helping a patient sit up in bed or moving a patient from a gurney to a hospital bed.

Force Protection Robotics Manipulator Arm Integration Program
Customer: AFRL
BAA

The multi-phase Force Protection Robotics Program aims to develop automation and intelligent system technologies for use in high threat areas, expeditionary and fixed airbase support, and homeland security. The goals of the Force Protection Robotics program are to:

• Enhance security force response and situational awareness;
• Increase use and reliability of unmanned systems in hostile work environments;
• Exploit leading edge technologies to the benefit of the operators by reducing time-on-target by 50%, decreasing personnel exposure by 30%, and increasing standoff detection by 1 km.

During the initial phase of the program, RE2 will integrate its JAUS-compliant Small Robot Toolkit (SRT) manipulator arm onto a small robot platform. The manipulator arm will also be integrated with a third-party OCU. The SRT offers plug-n-play end-effector tools, such as a brute force gripper, a dexterous gripper, and a sensor tilt table, to enable the system to easily adapt to a variety of missions. The integrated system will be demonstrated in a real-world force protection environment.

Small Robot Toolkit
Customer: US Army TARDEC
Commercialization Pilot Program (CPP)

During the 18-month Phase II SBIR, RE2 demonstrated an adaptive, modular Small Robot Toolkit such that the OCU can adapt to various tools, manipulators, and disposable hand controllers.

The Company is now working to commercialize the SRT and resulting technologies. To learn more, contact RE2 at info@resquared.com.