Hybrid Actuators for Enhanced Automation in D&D Remote Systems Tasks

Revolutionary changes in both the design and control of manipulation systems are required to enable autonomous operations in unstructured environments, as those defined for D&D tasks. Many researchers are exploring issues associated with the control of existing manipulation systems, but there is very little research effort directed towards enabling technologies that will provide significant improvement in the mechanical performance of these systems. Neither advanced controls or improved mechanical performance alone will enable a revolutionary new class of manipulation systems. The best control algorithms will not expand the performance of an actuated system beyond its physical limitations. The focus of this research is to explore advanced actuation methodologies that have the performance and capacity required for a revolutionary new class of manipulation systems that will enable autonomous operations in D&D environments. There are three fundamental goals associated with achieving the required breakthroughs in actuation technology.