RI: Small: Dynamic In-Hand Robotic Manipulation

要让机器人实现像人类一样的灵巧，它们不仅需要能够抓取物体，还需要在手中移动物体。例如，用笔写字：如果你能做的只是用手抓住它，而不是用手指移动它，你就不能写得很好。这个项目是关于设计手的抓握和运动，以创造有用的运动的对象在手中。长期目标是开发机器人手的控制算法，使其能够执行手部操作，使其能够在需要类似人的手部操作的人类环境中充当助手。顺应滑动的抓取既是可编程的，也是机械被动的(因此是稳定的)。在拾取-携带-放置的“放置”阶段，滑动可以用来获得额外的灵活性，通过位置控制移动被抓住的对象来控制不能可靠控制的运动。对于最近使用定位精度较低的软执行器控制的人类交互机器人来说，情况尤其如此，比如巴克斯特。无论如何，滑动可能是不可避免的，因此设计一个地方操作的抓地力和设计一个搬运的抓地力一样重要。受控滑动还提供了一种方法，无需添加专门的硬件(如RCC设备)即可进行符合要求的组装。滑动的顺应性设计包括选择抓握手指的位置和法向力，满足平衡和力闭合约束，以塑造摩擦极限表面，以实现从干扰力(惯性力或接触力)到校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重新抓取的手部滑动操作。

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.