Sensor-Based Motion Planning System for a Robot Arm         Operating Among Unknown Obstacles
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Senior Program Assistant', 'PO_EMAI': None, 'PO_PHON': None}
This work is concerned with designing an experimental prototype            for a robot sensor-based navigation system for an arm manipulator               operating in an environment with unknown obstacles.  The motion                 planning part of the system will be based on the algorithms of                  dynamic path planning (DPP).  The sensor system of the arm                      manipulator consists of dozens of active infra-red proximity sensors            covering the whole body of the arm.  This forms a kind of aura                  similar to that provided by the hairs on the leg of an insect.                  Within the radius of its sensitivity, the sensor system allows the              arm to feel the obstacle it is approaching, to identify which points            of its body are the closest to the obstacle, and to use this                    information to maneuver around the obstacle.  The work on the                   sensory modules is already underway; the first results indicate that            the system can be made sufficiently sensitive and immune to the                 variation in object reflectivity and ambient lighting.  The proposed            work covers a period of three years and consists of the development             of the multi-sensor "skin" of the arm, including its control scheme,            integration of the sensor and the motion planning subsystems, and               extensive experimental work on the arm motion planning.
{'FirstName': 'Vladimir', 'LastName': 'Lumelsky', 'PI_MID_INIT': 'J', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Vladimir J Lumelsky', 'EmailAddress': 'lumelsky@engr.wisc.edu', 'NSF_ID': '000296907', 'StartDate': '03/01/1988', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Yale University', 'CityName': 'NEW HAVEN', 'ZipCode': '065113572', 'PhoneNumber': '2037854689', 'StreetAddress': '150 MUNSON ST', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Connecticut', 'StateCode': 'CT', 'CONGRESSDISTRICT': '03', 'CONGRESS_DISTRICT_ORG': 'CT03', 'ORG_UEI_NUM': 'FL6GV84CKN57', 'ORG_LGL_BUS_NAME': 'YALE UNIV', 'ORG_PRNT_UEI_NUM': 'FL6GV84CKN57'}
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{'Code': '1465', 'Text': 'PRODUCTION SYSTEMS'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1987&All=true', 'xml': '8712357.xml'}