RI: Small: Dynamic In-Hand Robotic Manipulation

为了让机器人达到像人类一样的灵活性，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，考虑一下用笔写字：如果你所能做的就是用手抓住它，而不是在手指之间移动它，你就不能写得很好。 这个项目是关于设计手的抓握和运动，以创建手中物体的有用运动。 长期的目标是机器人手的控制算法的发展，使他们能够执行手的操作，使他们能够作为助手在人类环境中，这需要人类一样的手manipulation.The建议的工作是一个系统的框架设计滑动手操纵。 滑动顺应性抓取是可编程的和机械被动的（并且因此是稳定的）。 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，控制不能通过移动具有位置控制的抓取物体来可靠控制的运动。 这对于最近的人类交互式机器人来说尤其如此，这些机器人用定位精度低的软致动器控制，比如巴克斯特。 无论如何，滑动可能是不可避免的，因此，为放置操作设计抓握与为搬运操作设计抓握同样重要。 受控滑动还提供了一种用于顺应性组装的手段，而无需添加专用硬件，如RCC装置。 滑动的顺应性设计包括抓取手指的位置和法向力的选择，受到平衡和力闭合约束，以形成摩擦极限表面，从而实现从干扰力（惯性力或接触力）到校正滑动运动的期望映射。 该项目的一个目标是展示在准静态装配任务和动态重握的手滑动操作。

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.