SBIR-STTR Award

Advanced planning capabilities for robots in microgravity environments
Award last edited on: 3/25/2023

Sponsored Program
SBIR
Awarding Agency
NASA : ARC
Total Award Amount
$878,582
Award Phase
2
Solicitation Topic Code
Z5.04
Principal Investigator
Mark Moll

Company Information

PickNik Inc (AKA: PickNik Robotics Inc)

1942 Broadway Suite 222
Boulder, CO 80302
   (713) 775-7621
   hello@picknik.ai
   www.picknik.ai
Location: Single
Congr. District: 02
County: Boulder

Phase I

Contract Number: 80NSSC20C0609
Start Date: 8/27/2020    Completed: 3/1/2021
Phase I year
2020
Phase I Amount
$123,585
To increase robot autonomy it is necessary that a robot can reason over longer time lines than is currently possible with minimal input of a human operator. We propose to develop a system (on top of ROS 2 and MoveIt 2) that enables operators to command humanoids at a high level while still have the robot's motions satisfy task-specific low-level motion constraints. This is done in two steps. First, we will develop several parametrized primitives that allow an operator to specify a broad range of constrained motions, including climbing in microgravity, turning valves, and opening doors. Second, we will develop a task construction framework that allows an operator to compose such primitives into much larger tasks. The task construction framework will be able to compute complete end-to-end continuous motion plans that satisfy all relevant motion constraints. The operator will be able to preview these plans and select one for execution. We will also develop appropriate user interfaces that allow operators to specify complex tasks without having to write any code. Potential NASA Applications (Limit 1500 characters, approximately 150 words) The proposed system would enable operators to specify complex sequences of motions for humanoid robots (such as Robonaut 2) in microgravity environments like the International Space Station or the Gateway. The system will automatically compute feasible paths that can be selected by the operator for execution. Applications of the system include (but are not limited to) planning humanoid climbing motions aboard the ISS or Gateway, opening valves/doors, and retrieving bags from storage. Potential Non-NASA Applications (Limit 1500 characters, approximately 150 words) In warehouse logistics, manipulators often need to complete a series of pick-and-place operations. Such a task can be completely specified using our system by an operator who does not need to be a robotics expert. Besides order fulfillment in warehouses, applications include remote operation of inspection or search and rescue robots. Eventually, assembly or food preparation tasks could be enabled.

Phase II

Contract Number: 80NSSC21C0539
Start Date: 8/4/2021    Completed: 4/3/2022
Phase II year
2021
Phase II Amount
$754,997
We propose to develop a new software product called MoveIt Studio that provides supervised autonomy capabilities. It is a premium add-on for MoveIt, our current Open Source offering. MoveIt Studio enables an operator to command and control one or more robots through an easy-to-use, no-code interface. Operators can easily perform routine operations through a library of predefined objectives. Our system automatically takes an objective, composed of a series of tasks, and computes feasible motion plans, starting from the current state of the environment. This plan is continuously updated as changes in the environment are observed by the robot. MoveIt Studio also offers more direct control of a robot through several manual modes. The manual modes range from directly controlling joints to controlling end effector poses to a “point-and-click” affordance-based interface. The key innovations of the proposed work are the creation of a library of parameterized, reusable tasks that can be composed to solve more complex tasks. The user interface supports on-the-fly creation of new objectives composed of such tasks. Another key innovation is the combination of a spectrum of autonomous control methods that enables operators to easily switch between different desired/required levels of human supervision. Potential NASA Applications (Limit 1500 characters, approximately 150 words): Robots are expected to take on a more important role in future space missions. Our proposed system would enable operators to specify tasks involving complex, coordinated motions for robots such as Robonaut 2 in microgravity environments like the International Space Station or the Gateway. The system will automatically compute feasible paths that can be selected and refined by the operator for execution. Parameterized, reusable tasks for NASA-relevant scenarios will be created. Potential Non-NASA Applications (Limit 1500 characters, approximately 150 words): During our customer discovery process we have identified several industries that can benefit from the proposed research. In the energy industry (oil & gas, wind energy) there is an increased need for software that enables operators to effectively use mobile manipulators for inspection and routine maintenance tasks. There are also many military applications (e.g. Explosive Ordnance Disposal). Duration: 24