RIA: Control Sliding and Dextrous Manipulation for Roboticsand Automation

9309823 Kao这项研究的目标是研究和应用灵活的操作方法，在滑动和滚动中使用顺应性末端执行器，并控制滑动。其结果对于装配柔顺零件、夹具以及涉及推动和滑动的任务非常重要。灵活的滑动操作在机器人的运动规划、滑动预测和恢复、对象重定向和重新抓取等方面非常有用。最近在灵巧滑动操纵方面的工作要么集中在平面准静态运动上，要么采用了简化的接触模型，如点接触。为了实现这一目标，第一步是开发具有各种接触模型的三维动态灵活操作。第二步是将这项研究的结果与现有的滚动和非完整操纵领域的研究相结合。最后，控制算法将使用具有滑动和灵巧操作的柔顺手来实现。这项研究的结果可用于通过滑动操作控制手指遵循指定的运动轨迹，滑动操作涉及外力和内力、刚度和运动控制。结果，当它与非完整操作相结合时，可以制定出涉及接触位置移动的灵活机器人操作的完整解决方案。利用滑动和灵巧操作的理论基础开发的控制方案可以应用于自主遥操作和制造自动化，如夹具规划、推滑任务和装配。

9309823 Kao The goal of this research is to investigate and apply dextrous manipulation in sliding and rolling using compliant end-effectors, and to control sliding. The results are important for assembly of compliant parts, fixturing, and tasks involving pushing and sliding. Dextrous sliding manipulation is useful in motion planning, slip prediction and recovery, object re-orienting, and regrasping in robotics. Recent work in dextrous sliding manipulation has either focused on planar, quasistatic motions or employed simplified contact models such as point contact. To accomplish this goal, the first step is to develop three- dimensional dynamic dextrous manipulation with various contact models. The second step is to incorporate the results of this research with existing research in the areas of rolling and nonholonomic manipulation. Finally, the control algorithms will be implemented using compliant hands with sliding and dextrous manipulation. The results of this proposed research can be used to control fingers to follow prescribed motion trajectories via sliding manipulation involving external and internal forces, stiffness, and motion control. The outcome, when it is incorporated with nonholonomic manipulation, can formulate a complete solution to dextrous robotic manipulation that involves shifting of contact locations. The control schemes developed using the theoretical foundation of sliding and dextrous manipulation can be applied in autonomous tele-manipulation and manufacturing automation such as fixturing planning, tasks involving pushing and sliding, and assembly.