Reduced Complexity Manipulation with the Parallel-Jaw Gripper
Reduced Complexity Manipulation with the Parallel-Jaw Gripper
批准号:
9123747
负责人:
Ken Goldberg
金额:
$31.5万
依托单位国家:
美国
项目类别:
Continuing Grant
财政年份:
1992
资助国家:
美国
项目状态:
已结题
起止时间:
1992-07-15 至 1996-06-30
中文摘要
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英文摘要
This research explores emerging concepts of minimalist robotics, by analyzing compliant motion planning for manipulators with reduced sensing and actuation complexity such as the parallel-jaw gripper, as alternatives to more complex multifingered, multijointed robot hands which can be more difficult to program. The work investigates means to program grasp, recognition, orientation, and positioning of an industrially-important class of parts whose cross-sections can be represented by a combination of curved arcs and straight polygonal edges. The research combines computational analysis of part geometry with methods from stochastic estimation theory. A programmable parts kitting system will be developed as an experimental testbed. This system will automatically generate programs for CAD models of parts, for robot recognition and manipulation of those parts.
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会议论文
NRI: INT: SCHooL: Scalable Collaborative Human-Robot Learning
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批准号:1734633
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项目类别:Standard Grant
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资助金额:$137.49万
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财政年份:2017
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负责人:Ken Goldberg
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依托单位:
CONE: Collaborative Observatory for Natural Environments
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批准号:0535218
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项目类别:Continuing Grant
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资助金额:$0.0万
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财政年份:2005
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负责人:Ken Goldberg
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依托单位:
Self-Aligning Grippers and Fixtures
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批准号:0010069
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项目类别:Standard Grant
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资助金额:$10.0万
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财政年份:2001
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负责人:Ken Goldberg
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依托单位:
ITR/SI: Collaborative Telerobotics: Theory and Scalable Infrastructure
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批准号:0113147
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项目类别:Continuing Grant
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资助金额:$45.0万
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财政年份:2001
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负责人:Ken Goldberg
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依托单位:
Postdoc: ECS Postdoctoral Associate: Design and Simulation of Algorithms and Mechanisms for Precision Assembly
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批准号:9705022
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项目类别:Standard Grant
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资助金额:$4.61万
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财政年份:1997
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负责人:Ken Goldberg
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依托单位:
Challenges in CISE: Planning and Control for Massively Parallel Manipulation
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批准号:9726389
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项目类别:Continuing Grant
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资助金额:$136.62万
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财政年份:1997
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负责人:Ken Goldberg
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依托单位:
Reduced Complexity Manipulation with the Parallel-Jaw Gripper: 2-Year Plan for Extended Research
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批准号:9612491
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项目类别:Continuing Grant
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资助金额:$12.0万
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财政年份:1996
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负责人:Ken Goldberg
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依托单位:
Presidential Faculty Fellowships
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批准号:9553197
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项目类别:Continuing Grant
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资助金额:$37.5万
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财政年份:1996
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负责人:Ken Goldberg
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依托单位:
NSF Young Investigator
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批准号:9696061
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项目类别:Continuing Grant
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资助金额:$26.44万
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财政年份:1995
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负责人:Ken Goldberg
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依托单位:
NSF Young Investigator
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批准号:9457523
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项目类别:Continuing Grant
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资助金额:$8.75万
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财政年份:1994
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负责人:Ken Goldberg
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依托单位:
海外基金