RIA: Dextrous Manipulation, Task Execution and Symmetrics inFingertip Design

这项研究解决了对更灵活、更多功能和更多指的机器人手的需求，以增加机械臂的灵活性。它的目标是完成一种分析灵巧操作的统一方法，以及基于该功能的机械手的设计。这项研究运用了微分学、计算几何、非线性控制、符号计算、动力系统理论和自由运动规划等技术。以灵巧操作为主要目标，建立了机械手的设计准则。该项目有一个实验部分，通过该部分，设计概念被实施在现有的执行器上。这项研究有望对机器人学中的几个基本问题产生影响，包括非完整运动规划、协调控制、抓取和任务规划、几何建模以及手指运动学和执行器设计。

This research addresses the need for a more flexible, versatile and multifingered robotic hand to augment the dexterity of a robotic arm. Its objective is to complete a unified approach to the analysis of dexterous manipulation, and the design of robotic hands based on this functionality. The research is implemented by applying techniques in differential as well as computational geometry, nonlinear control, symbolic computation, dynamical system theory and free motion planning. With dexterous manipulation as the primary goal, criteria for robotic hand design are developed. The project has an experimental component whereby the design concepts are implemented on existing actuators. This research is expected to impact several fundamental issues in robotics, including nonholonomic motion planning, coordinated control, grasping and task planning, geometrical modeling and finger kinematics and actuator design.