Motion Coordination for Mobile Robots in Unstructured       Environments
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'F. Hank Grant'}
The increasing economic importance of robotics in the                           manufacturing environment is widely recognized.  There are many                 situations in which it would be advantageous to remove some of                  the structuring constraints on the environment, and have the                    capability of moving the robot to the work.  This project covers                a three-year program of basic research in motion coordination,                  including coordinating the actuators of a mobile manipulation                   system, allocating forces and torques within the resulting closed               kinematic chains, and developing algorithms for obstacle                        avoidance.
[{'FirstName': 'Said', 'LastName': 'Koozekanani', 'EmailAddress': None, 'StartDate': '12/01/1985', 'EndDate': None, 'RoleCode': 'Co-Principal Investigator'}, {'FirstName': 'Necip', 'LastName': 'Berme', 'EmailAddress': None, 'StartDate': '12/01/1985', 'EndDate': None, 'RoleCode': 'Co-Principal Investigator'}, {'FirstName': 'Charles', 'LastName': 'Klein', 'EmailAddress': None, 'StartDate': '12/01/1985', 'EndDate': None, 'RoleCode': 'Principal Investigator'}]
{'Name': 'Ohio State University', 'CityName': 'Columbus', 'ZipCode': '432101016', 'PhoneNumber': '6146888735', 'StreetAddress': 'Office of Sponsored Programs', 'CountryName': 'United States', 'StateName': 'Ohio', 'StateCode': 'OH'}
{'Code': '1465', 'Text': 'PRODUCTION SYSTEMS'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1984&All=true', 'xml': '8421321.xml'}