Advanced planning capabilities for robots in microgravity environments

The proposed work will enable higher levels of autonomous mobile manipulation for robot arm flight controllers conducting space missions, through the addition of new and advanced capabilities to our existing software platform. Commanding mobile manipulators to perform complex tasks is complicated and still largely an unsolved problem. However, we have previously developed a platform that facilitates the development of new manipulation behaviors that pushes the state of the art, with minimal or no operator input. There are still many areas of improvement that the proposed work aims to address. First, we plan to develop new capabilities to enable contact-rich manipulation such as wiping surfaces, turning handles, and flipping latches. Second, we plan to add support for mobile manipulation including capabilities for both pure navigation as well as whole-body planning for combined base and arm movement. Finally, we plan to add support for multiple manipulators including the ability to (1) easily switch between controlling different arms and (2) planning coordinated motions for multiple arms simultaneously. These enhanced capabilities have the potential to drastically transform the ways robots are deployed in future space missions.

The software developed through this proposal enables rapid development of new robotic applications in many NASA-relevant scenarios in IVA, EVA, ISAM, and lunar/planetary settings. Example applications include (1) cargo unloading, station keeping, and science experiment tending on Gateway, (2) repair, refueling, and maintenance of satellites, and (3) construction of space habitats, (4) and extracting and collecting samples on moons and planets. Some of our prior work has already been demonstrated on Robonaut2, validating potential applications.

The same applications that are of interest to NASA are also of interest to the rapidly expanding commercial space industry, including space-focused robot arm companies like Motiv. Space Force and DOD have also expressed interest in these innovations. Terrestrial applications that are enabled by the proposed work include inspection and maintenance of industrial sites and offshore platforms.

This is early/mid-stage (TRL 5) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.

None of these are guaranteed paths for this specific project — TechPort itself doesn't have an "apply" button. Reaching out to the contact(s) above with a specific question is usually the fastest way to find out what's actually open.