Fine Motion Planning for Dexterous Manipulation
Fine Motion Planning for Dexterous Manipulation
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精细运动规划，实现灵巧操控
DOI：
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发表时间：
1992
期刊：
影响因子：
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通讯作者：
D. Rus
中科院分区：
文献类型：
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作者：
D. Rus
本论文探讨灵巧操作的问题，机器人如何借由末端执行器影响周围的世界？灵巧操作是机器人在环境中实现智能和独立操作的基础，是一个特殊的运动规划问题。
由于一般的运动规划问题的不确定性是NEXP困难的，努力必须针对定义类的任务是易于处理的。我们考虑的重定向问题：对于一个给定的机器人手，一个任意的对象，和一个所需的方向相对于手，找到一个算法来合成一个强大的计划，完成所需的重定向的手指。为机器人手设计的重定向算法应该满足几个性质。首先，它必须能够完成任意大的旋转。其次，由于它必须在真实的设备上实现，因此它应该涉及可以快速计算的简单手指运动。第三，由于应用领域的特点是不确定性，表现为计算的不精确性和控制的不准确性，它必须表现出良好的稳定性。我们提出了满足这些属性的重定向问题的算法。其基本思想是使用一些机器人手指来约束物体的运动，而其他手指则产生运动。这导致了手指跟踪作为操作的高级原语的想法。我们还提出了一个代数框架的操作，在理论上是有根据的，它可以系统地和有效地使用微分方程描述接触对象之间的相互作用。最后，我们描述了一个模拟器的手指跟踪多面体的重定向。
This thesis investigates the problem of dexterous manipulation; how can robots affect the world around them by means of their end-effectors? Dexterous manipulation is fundamental to robots operating intelligently and independently in their environments and it is a special motion planning problem.
Since the general motion planning problem with uncertainty is NEXP-hard, effort must be directed to defining classes of tasks that are tractable. We consider the reorientation problem: for a given robot hand, an arbitrary object, and a desired orientation with respect to the hand, find an algorithm to synthesize a robust plan for the fingers that accomplishes the desired reorientation. A reorientation algorithm devised for a robot hand should satisfy several properties. First, it must be able to accomplish arbitrarily large rotations. Second, since it must be implemented on a real device, it should involve simple finger motions that can be computed fast. Third, since the application domain is characterized by uncertainties that manifest themselves as imprecisions in calculations and inaccuracies in control, it must exhibit good stability properties. We propose algorithms for the reorientation problem that satisfy these properties. The basic idea is to use some of the robot fingers to constrain the motion of the object and others to generate motion. This results in the idea of finger tracking as a high-level primitive for manipulation. We also propose an algebraic framework for manipulation that is theoretically well-founded and in which it is possible to use systematically and effectively the differential equations describing the interaction between objects in contact. Finally, we describe a simulator for the reorientation of polyhedra by finger tracking.