Geometry of Dexterous Manipulation

灵巧操作的几何学

• 批准号: 9003986
• 负责人: Bhubaneswar Mishra
• 金额: $ 8.82万
• 依托单位: New York University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1990
• 资助国家: 美国
• 起止时间: 1990-08-15 至 1993-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9003986&HistoricalAwards=false
• 关键词: Geometry; Dexterous; Manipulation

This grant will support theoretical research into the geometric and control problems of grasping non-rigid and compliant objects. Related control problems will also be studied, such as task planning, non-holonomic motion planning, representation of compliance uncertainty, and decomposition of tasks into homogeneous subtasks such as grasping, re-grasping, and finger gaiting. The research is likely to integrate combinatorial task-planning algorithms with motion planning based on differentiable manifold theory. Experimental verification of promising algorithms is also planned.

这笔赠款将支持对抓取非刚性和柔顺对象的几何和控制问题的理论研究。还将研究相关的控制问题，如任务规划、非完整运动规划、柔顺不确定性的表示，以及将任务分解为同质的子任务，如抓取、重新抓取和手指步态。这项研究可能会将组合任务规划算法与基于可微流形理论的运动规划相结合。对有前景的算法的实验验证也在计划中。