NRI: Small: Dexterous Manipulation with Underactuated Hands: Strategies, Control Primitives, and Design for Open-Source Hardware

NRI：小：用欠驱动的手进行灵巧操纵：策略、控制原语和开源硬件设计

• 批准号: 1317976
• 负责人: Aaron Dollar
• 金额: $ 119.76万
• 依托单位: Yale University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-09-15 至 2018-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1317976&HistoricalAwards=false
• 关键词: NRI; Small; Dexterous; Manipulation; Underactuated

The proposed work will contribute to the fundamental understanding of dexterous manipulation, especially in how low-dimensional hands that have traditionally been used for pure grasping tasks can be leveraged for excellent manipulation capabilities. The PI team will investigate how the passive mechanics of compliant and underactuated hands can be utilized for manipulation strategies include vibrational stick-slip, equilibrium point manipulation, and finger gaiting, as well as develop low-level planning and control schemes to implement those for a wide range of manipulation movements. This work will lead to the development of general-purpose robot hands having low-dimensional actuation and sensing. Furthermore, the focus on design for open-source dissemination through rapid prototyping techniques will result in novel fabrication strategies in furtherance of fast innovation in a range of fields.A key thread of the proposed work is that simple hand designs and control schemes will be made freely available through an open-source repository. The hands will be able to be easily and inexpensively fabricated with rapid prototyping techniques, lower the entry barrier from expense hand hardware and encouraging continual design improvements. Additionally, the team will kick-start a user community around those hands through an on-site tutorial at Yale for approximately 20 students and postdocs from top manipulation research groups. For the education and outreach component of this proposal, a major thrust involves enhancing RoboticsCourseWare.org, the PI's open-access repository for robotics teaching materials, in order to highlight open-source and other inexpensive hardware platforms for educational purposes. A strong focus on involving a diverse group of undergraduates and high school students in the research plan is also highlighted.

拟议的工作将有助于对灵巧操作的基本理解，尤其是在传统上用来用于纯粹掌握任务的低维手，可以利用出色的操纵能力。 PI团队将研究如何利用兼容手和不足的手的被动力学来操纵策略，包括振动粘性，平衡点操纵和手指步态，以及制定低级计划和控制方案，以实施这些方案，以实施这些方案。这项工作将导致具有低维驱动和感知的通用机器人手的发展。此外，通过快速的原型制作技术对开源传播的设计的关注将导致新的制造策略，以在一系列领域中促进快速创新。拟议的工作的键线是，将通过开放式储备存储库随时免费获得简单的手工设计和控制方案。手可以通过快速原型制作技术轻松，廉价地制造，从费用手工硬件中降低进入障碍，并鼓励持续的设计改进。此外，该团队将通过耶鲁大学的现场教程围绕这些手启动一个用户社区，为大约20个学生和最高操纵研究小组的博士后启动。对于本提案的教育和外展部分，主要推力涉及增强PI的机器人教学材料的开放式访问存储库，以突出显示开源和其他廉价的硬件平台，以供教育目的。还强调了将一组多样化的本科生和高中生参与研究计划的重点。