RI: Small: From Impact to Impulsive Manipulation

RI：小：从影响到冲动操纵

• 批准号: 1421034
• 负责人: Yan-Bin Jia
• 金额: $ 49.99万
• 依托单位: Iowa State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-07-15 至 2018-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1421034&HistoricalAwards=false
• 关键词: RI; Small; Impact; Impulsive; Manipulation

When people work, they often take advantage of impacts between objects, for example, a worker impacts a nail with a hammer to drive it in. These impacts generate what are known as "impulsive forces" to do work. People take advantage of smaller impulsive forces to complete many common daily tasks too; inserting a key into a key hole, opening a stuck window, and cracking an egg. While the impacts between a plate and a table is much lighter than that applied to a nail, it is nonetheless just as useful. Today's robots have not been designed to take advantage of impulsive forces to accomplish tasks. The PI conducts an investigation into several fundamental and experimental issues surrounding impulsive robotic manipulation and develops methods for their use in robot control. Project results are advancing the theory of multi-body impacts and widening the capabilities of robots. Direct applications of the results are leading to faster and more agile robots for civil and military services and improved efficiency of industrial processes.The technical goal of this project is to gain in-depth understanding about control of collision outcomes and, more importantly, integration of impact planning with motion planning in robot manipulation. The project consists of three phases. The first phase advances the Principal Investigator's recent work on compliant and multiple impacts to modeling of n-body simultaneous collisions, tackling issues that include state space condensation, impulse growth in high-dimensional space, sensitivity to physical parameters, and area and nonlinear contacts. In parallel with the analysis is the development of a graphical interface called MultiCollide for interactive collision simulation. The second phase investigates how a manipulator can impart via impact a desired motion to an object, solving an inverse impact problem that connects impact dynamics with trajectory planning and manipulator dynamics. The final phase focuses on two impulsive manipulation tasks that respectively address the following important issues: how to leverage contact compliance and geometry, and how to interleave impact planning with robot motion planning.

当人们工作时，他们经常利用物体之间的碰撞，例如，工人用锤子敲击钉子以将其钉入。这些碰撞产生所谓的“冲力”来进行工作。 人们也会利用较小的冲动力量来完成许多常见的日常任务；将钥匙插入钥匙孔，打开卡住的窗户，以及打碎鸡蛋。 虽然盘子和桌子之间的冲击力比钉子上的冲击力小得多，但它仍然同样有用。当今的机器人并未被设计为利用脉冲力来完成任务。 PI 对围绕脉冲机器人操作的几个基本和实验问题进行了调查，并开发了它们在机器人控制中的使用方法。 项目成果正在推进多体撞击理论并扩大机器人的能力。 研究结果的直接应用正在为民用和军用服务带来更快、更敏捷的机器人，并提高工业流程的效率。该项目的技术目标是深入了解碰撞结果的控制，更重要的是，将碰撞规划与机器人操纵中的运动规划相集成。 该项目分为三个阶段。 第一阶段推进了首席研究员最近关于多体同时碰撞建模的顺应性和多重影响的工作，解决包括状态空间凝聚、高维空间中的脉冲增长、对物理参数的敏感性以及面积和非线性接触在内的问题。 与分析并行的是一个名为 MultiCollide 的图形界面的开发，用于交互式碰撞模拟。 第二阶段研究机械臂如何通过冲击向物体传递所需的运动，解决将冲击动力学与轨迹规划和机械臂动力学联系起来的逆冲击问题。 最后阶段重点关注两个脉冲操纵任务，分别解决以下重要问题：如何利用接触顺应性和几何形状，以及如何将影响规划与机器人运动规划交织在一起。