CAREER: Manipulation and Motion Planning of Articulated Objects

职业：铰接物体的操纵和运动规划

• 批准号: 0093233
• 负责人: Srinivas Akella
• 金额: --
• 依托单位: Rensselaer Polytechnic Institute
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2001
• 资助国家: 美国
• 起止时间: 2001-05-15 至 2007-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0093233&HistoricalAwards=false
• 关键词: CAREER; Manipulation; Motion; Planning; Articulated

The project focuses on geometry-based robotic manipulation and motion planning. The proposed research includes development of algorithms for manipulation, motion planning, and design of articulated objects with many degrees of freedom. Example objects include cardboard cartons folded from blanks, and ``pop-up'' 3D micro-electromechanical systems (MEMS) made from 2D hinged elements. In contrast with work on rigid object manipulation, this research will enable robots with only a few degrees of freedom to manipulate non-rigid articulated objects with many degrees of freedom. Applications include eliminating repetitive stress injuries due to carton folding during packaging, and batch fabrication of 3D micro-optical MEMS devices for optical networks. The education plan closely complements the research program and includes development of new courses, mentoring graduate students, involving undergraduates in research, and organizing robotics workshops.

该项目着重于基于几何的机器人操作和运动计划。 拟议的研究包括开发具有多个自由度的铰接物体操纵，运动计划和设计的算法。示例对象包括从空白折叠的纸板纸箱，以及``弹出''3D微电动系统（MEMS），由2D铰链元素制成。与对刚性对象操纵的工作相反，这项研究将使只有几个自由度的机器人能够以多种自由度来操纵非韧性的铰接式物体。应用包括由于包装期间的纸箱折叠而消除重复应力损伤，以及用于光学网络的3D微光学内存设备的批量制造。该教育计划密切补充了研究计划，包括开发新课程，指导研究生，涉及研究生和组织机器人研讨会。