Presidential Young Investigator Award

该项目致力于对目前机器人学中的分析工作进行实验验证，以及启动新的机器人学工作。这位首席研究员在机械学方面有很强的背景，包括机械手的力控制、冗余度机械手运动学、动态稳定的腿部运动分析、多指灵巧手操作和模块化自组织机器人系统。所有这些课题都旨在开发复杂的多自由度机器，以提高自动化程度。这些应用相当广泛，包括太空探索、医学和危险废物清除。该项目将实现一个原型的超冗余操作和移动系统，以及一个动态稳定的腿部机器人系统。它们将用于演示和验证以前开发的分析模型和算法，并确定机械手运动学和动力学方面的未来研究需求。

This project addresses experimental validation of current analytical work in robotics as well as the initiation of new work in robotics. The principal Investigator has a strong background in the mechanical aspects of robotics, including manipulator force control, redundant manipulator kinematics, the analysis of dynamically stable legged locomotion, multi fingered dexterous hand manipulation, and modular self organizing robotic systems. All of these topics are aimed at developing sophisticated multi degree of freedom machines to enhance automation. The applications are quite broad, and encompass space exploration, medicine, and hazardous waste removal. This project will implement both a prototype hyper redundant manipulation and locomotion system as well as a dynamically stable legged robotic system. They will be used to demonstrate and validate previously developed analytical models and algorithms, and to identify future research needs in manipulator kinematics and dynamics.