MIMIC – Modular Intelligent Manipulation with Intuitive Control
The goal of the Modular Intelligent Manipulation with Intuitive Control (MIMIC) project is to develop the means of naturally and intuitively controlling a dexterous robotic manipulator as easily as one controls his or her own arm. Additionally, force/haptic feedback is provided to the operator for fine manipulation tasks such as grasping. This Phase II SBIR project with the U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) is exploring a variety of operator control devices including non-contact sensors (single camera, dual camera, Kinect), imitative controllers, and control gloves. The end goal is to objectively evaluate each control technology in performing a basic manipulation task. Additionally, to expand the range of tasks that can be performed, automatic tool and end-effector interchange capability was developed for use with the iRobot Warrior mobile manipulator platform.