CAREER: Manipulation and Motion Planning of Articulated Objects

该项目的重点是基于几何的机器人操纵和运动规划。建议的研究包括开发操纵算法、运动规划和多自由度关节对象的设计。示例对象包括用毛坯折叠的纸板纸箱，以及由2D铰链元件制成的“弹出式”3D微型机电系统(MEMS)。与刚性物体操纵的工作相比，这项研究将使只有几个自由度的机器人能够操纵多个自由度的非刚性关节物体。应用包括消除包装过程中纸盒折叠造成的重复应力伤害，以及批量制造用于光网络的3D微光学MEMS器件。该教育计划与研究计划密切相辅相成，包括开发新课程、指导研究生、让本科生参与研究以及组织机器人研讨会。

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.