Dissertation Enhancement: Dextrous Manipulation and Haptic Exploration of Unknown Objects

该奖项支持Mark Cutkosky博士在日本筑波机械工程实验室获得为期3个月的NSF论文增强奖学金。Cutkosky博士的学生Allison Okamura将与生物机器人部门主任Kazuo Tanie博士合作，进行一个名为“未知物体的灵巧操纵和触觉探索”的研究项目。在控制、触觉感知和运动规划方面的进步开始使机器人手能够完成对未知物体的自主探索和操纵。借鉴人类的探索过程，机器人可以利用从位置、力和触觉传感器获得的数据来建立和完善物体模型。在拟议的研究中，灵巧的手和手指将配备触觉传感器，并编程以评估论文研究期间开发的不同探索程序和对象模型。实验还将进行测试，以通过触觉界面向人类观察者显示派生对象属性的能力。在探索过程、对象建模和显示方面提出的实验将直接有助于开发在远程或危险环境中对物体进行自主或监督触觉探索的系统。＊＊＊

9724763 Cutkosky This award supports a 3 month NSF Dissertation Enhancement Fellowship for Dr. Mark Cutkosky at the Mechanical Engineering Laboratory in Tsukuba, Japan. Dr. Cutkosky's student, Allison Okamura, will work with Dr. Kazuo Tanie, Director of the Bio-Robotics Division, on a research project entitled, "Dextrous Manipulation and Haptic Exploration of Unknown Objects." Advances in controls, tactile sensing and motion planning are beginning to make it possible for robot hands to accomplish autonomous exploration and manipulation of unknown objects. Drawing upon human-inspired exploratory procedures, a robot can build and refine object models using the data obtained from position, force and tactile sensors. During the proposed research, dextrous hands and fingers will be equipped with tactile sensors and programmed to evaluate different exploratory procedures and object models developed during thesis research. Experiments will also be conducted to test the ability to display derived object properties to a human observer through haptic interface. The proposed experiments in exploratory procedures, object modeling, and display will contribute directly to the development of systems for autonomous or supervised haptic exploration of objects in remote or hazardous environments. ***