II-EN: Robotic Equipment for the Investigation of Dexterous Two-Handed Manipulation

“该奖项是根据2009年美国复苏和再投资法案（公法111-5）资助的。“机器人技术的一个重大挑战是实现灵巧性，特别是操纵的灵巧性。 这个项目资助的设备？一个机器人躯干，两个手臂，和一个定制设计的机器人手，支持调查的操作任务，特别是集中在双手灵巧的操作。 主要项目包括（1）从人类演示的双手操作任务的任务转移和（2）非主导机器人手的应用领域特定设计。对于任务转移，本项目探索了任务理解，规划和学习，并直接用户交互的组合，沿着沿着我们以前的单手抓握和操纵的研究路线。对于手部设计，该项目追求设计优化，以开发尽可能简单的机器人手，能够完成一系列日常任务，作为非优势手操作。这种方法有望对手部所需的自由度数量、所需的驱动电机数量、所需的传感器以及手部关键但经常被忽视的部位（如手掌）的几何形状提供新的见解。我们相信，只有当我们非常了解一个人为什么选择以某种方式执行一项任务时，我们才能成功地将一项任务从人类演示转移到机器人表演。我们提出的机器人手设计项目对假肢设计也有很大的影响，因为我们的机器人手设计过程将以设计简单和执行日常生活任务的能力为目标。

"This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5)."One of the grand challenges in robotics is to achieve dexterity, especially dexterity in manipulation. The equipment funded by this project ? a robot torso, two arms, and a custom designed robot hand, supports investigation of manipulation tasks, with a particular focus on two-handed dexterous manipulation. Primary projects include (1) task transfer of two-handed manipulation tasks from human demonstrations and (2) application domain specific designs for a non-dominant robot hand. For task transfer, this project explores a combination of task understanding, planning and learning, and direct user interaction, following along the lines of our previous research in one handed grasping and manipulation. For hand design, this project pursues design optimization to develop the simplest possible robot hand capable of accomplishing a suite of everyday tasks, operating as the non-dominant hand. This approach promises new insights into the required number of degrees-of-freedom of the hand, the required number of drive motors, required sensing, and the geometry of critical but often ignored parts of the hand, such as the palm.Broader impact includes forming a better understanding of human motion. We believe that we can only successfully transfer a task from a human demonstration to a robot performance if we understand a great deal about why a person chooses to perform a task in a certain way. Our proposed robot hand design project also has great implications for prosthetic design, as our robot hand design process will be driven with goals of simplicity in design and ability to perform tasks from everyday life.