Reduced Complexity Manipulation with the Parallel-Jaw Gripper

这项研究探索了极简主义机器人的新兴概念，通过分析具有更低的感知和执行复杂性的机械手(如平口夹爪)的柔顺运动规划，作为更复杂的多指、多关节机器人手的替代方案，后者可能更难编程。这项工作研究了编程抓取、识别、定向和定位一类具有工业重要性的零件的方法，这些零件的横截面可以由曲线圆弧和直多边形边的组合表示。该研究将零件几何的计算分析与随机估计理论的方法相结合。将开发一套可编程零件配套系统作为实验试验台。该系统将自动生成零件CAD模型的程序，用于机器人识别和操作这些零件。

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.