CAREER: Manipulation and Motion Planning of Articulated Objects

该项目侧重于基于几何的机器人操作和运动规划。提出的研究包括操作算法的发展，运动规划，并设计铰接对象与多个自由度。示例对象包括从空白折叠的纸板盒，以及由2D铰链元件制成的“弹出式”3D微机电系统（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具有多个自由度的非刚性铰接物体。应用包括消除包装过程中由于纸箱折叠造成的重复应力损伤，以及用于光网络的3D微光MEMS器件的批量制造。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，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.