RI: Small: Dynamic In-Hand Robotic Manipulation

为了让机器人达到像人类一样的灵巧，它们不仅需要能够抓住物体，还需要能够在手中移动物体。例如，用笔写字：如果你所能做的就是用手抓住它，而不是在手指间移动它，你就写不出很好的字。这个项目是关于设计手的抓握和运动，以创造有用的手部物体运动。长期目标是开发机器人手的控制算法，使它们能够执行手持操作，从而使它们能够在人类环境中发挥助手的作用，这需要类似人类的手持操作。所提出的工作是设计滑动手操作的系统框架。一个滑动兼容的抓取是可编程的和机械被动的（因此稳定）。在pick-carry-place的“place”阶段，可以使用滑动来获得额外的灵巧性，控制无法通过位置控制来移动抓取对象来可靠控制的运动。这对于最近的人机交互机器人来说尤其如此，它们由定位精度较低的软驱动器控制，比如Baxter。无论如何，滑动可能是不可避免的，因此为放置操作设计抓取与为进位操作设计抓取一样重要。控制滑动还提供了一种方法，无需添加专门的硬件，如RCC设备。滑动顺应性的设计包括选择抓取手指的位置和法向力，受平衡和力闭合约束，以形成摩擦极限表面，以实现从干扰力（惯性或接触力）到纠正滑动运动的所需映射。该项目的一个目标是演示准静态装配任务和动态再抓取的手持滑动操作。

To allow robots to achieve human-like dexterity, they not only need to be able to grasp objects, but also to move them within their hand. Consider, for example, writing with a pen: if all you could do was grasp it with your hand, and not move it between your fingers, you would not be able to write very well. This project is about designing grasps and motions of the hand to create useful motions of the object in the hand. The long-term goal is the development of control algorithms for robot hands to allow them to perform in-hand manipulation that allow them to function as assistants in human environments, which require human-like in-hand manipulation.The proposed work is a systematic framework for designing sliding in-hand manipulation. A sliding-compliant grasp is both programmable and mechanically passive (and therefore stable). In the "place" phase of pick-carry-place, sliding can be used to gain extra dexterity, controlling motions that cannot be reliably controlled by moving the grasped object with position control. This is particularly true for recent human-interactive robots controlled with soft actuators with low positioning accuracy, like Baxter. Sliding may be inevitable anyway, and therefore designing a grasp for the place operation can be as important as designing for the carry. Controlled sliding also provides a means for compliant assembly without adding specialized hardware, like the RCC device. Design of compliance for sliding includes the choice of the location and the normal forces of the grasping fingers, subject to equilibrium and force closure constraints, to shape the frictional limit surface to achieve a desired mapping from disturbing forces (inertial or contact forces) to corrective slipping motion. An objective of the project is to demonstrate in-hand sliding manipulation for both quasistatic assembly tasks and for dynamic regrasping.