Integration of Close Range Proximity and Tactile Sensing
{'Code': '15030000', 'Directorate': {'Abbreviation': 'TIP', 'LongName': 'Dir for Tech, Innovation, & Partnerships'}, 'Division': {'Abbreviation': 'TI', 'LongName': 'Translational Impacts'}}
{'SignBlockName': 'Ritchie B. Coryell', 'PO_EMAI': None, 'PO_PHON': None}
This research is designed to make an important contribution toward the          development of an intelligent general purpose robotic system capable            of object location, identification, and manipulation through the                judicious use of non-visual sensing modalities.  Currently, robotic             applications in manufacturing require a highly structured environment           so that position control of the robot is sufficient for the task.  In           relatively unstructured environments sensors are required to provide            information for feedback control of the robot.  This research will              seek to prove the feasibility of incorporating a robust, multi-                 purpose proximity sensing capability into an existing tactile sensor            design with minimal modification.  With the capability of close range           proximity sensors located on the fingers and/or palm of the robot end           effector, proper grasp rendezvous with objects in an unstructured               environment can be assured.  After contact is made, the high                    resolution tactile sensing capability of the integrated sensor system           will verify the grasp and will provide feedback information for                 manipulation activities.
{'FirstName': 'Allen', 'LastName': 'Grahn', 'PI_MID_INIT': 'R', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Allen R Grahn', 'EmailAddress': 'bsi@xmission.com', 'PI_PHON': '8012737518', 'NSF_ID': '000316974', 'StartDate': '01/01/1989', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Bonneville Scientific Inc', 'CityName': 'SALT LAKE CITY', 'ZipCode': '841099353', 'PhoneNumber': '8012737518', 'StreetAddress': '2811 BROOKBURN RD', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Utah', 'StateCode': 'UT', 'CONGRESSDISTRICT': None, 'CONGRESS_DISTRICT_ORG': None, 'ORG_UEI_NUM': None, 'ORG_LGL_BUS_NAME': None, 'ORG_PRNT_UEI_NUM': None}
{'Name': None, 'CityName': None, 'StateCode': None, 'ZipCode': None, 'StreetAddress': None, 'CountryCode': None, 'CountryName': None, 'StateName': None, 'CountryFlag': None, 'CONGRESSDISTRICT': None, 'CONGRESS_DISTRICT_PERF': None}
{'Code': '5371', 'Text': 'SBIR Phase I'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1988&All=true', 'xml': '8860633.xml'}