National Robotics Initiative (NRI): Whole-Body Telemanipulation of the Dreamer Humanoid Robot on Rough Terrains Using a Hand Exoskeleton

Develop a control framework for tele-manipulation of low-cost mobile and dexterous robots, keeping humans at the center of the control loop by retargeting low-level exoskeleton gestures to sophisticated humanoid skills, providing NASA with a robust, natural method of tele-operating humanoid robots via a hand exoskeleton force feedback control device worn by the user. 

When fully matured, this technology will provide:

• A whole body control paradigm for the adaptive movement and force control of humanoid robots in rough terrains
• A novel hand exoskeleton, based on the idea of human-like variable stiffness, that will provide control commands to the humanoid from an operator
• Development of a bottom-up computational skill’s infrastructure to enable the creation and representation of whole-body compliant tasks, retargeting exoskeleton-based telemanipulation gestures to desire matching frames in desired locations on the robot’s body, and providing safety, reactive response to the environment, and terrain adaptation

The fully matured technology will have important broader impacts in robotics research, human-robot interactions, improving manufacturing in the US, and also in education and outreach activities.

• With a control paradigm for retargeting low level exoskeleton gestures to sophisticated humanoid skills, we will be able to reinforce the design of more effective theoretical and computational methods for improving telemanipulation in lean manufacturing environments.
• Developments from the proposed research program will also lead to dramatic improvements in telemanipulation technology which has applications in space exploration, robotic surgery, and bomb diffusion.
• In addition, the proposed project will create a unique interdisciplinary environment enabling education, training, and co-advising of graduate and undergraduate students, and significant and targeted outreach activities to underrepresented groups in science and engineering.

This is early/mid-stage (TRL 3) — 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.