EAGER: Dexterous Robotic Cutting

这项研究将形成一个机器人切割和操纵柔软和不规则形状物体的理论。研究结果的应用将导致更熟练的灵巧机器人，适用于一系列工业应用，降低安全风险，提高可靠性和一致性。本项目的技术目标是深入了解精细、柔韧、滑滑物品的操作、工具的熟练搬运、机械臂与手的协调以及基于多模态传感和可变形建模的运动规划与控制。该项目包括两个阶段。第一阶段开发切割设备的基本机动策略，解决包括视觉引导手放置，实时大型变形建模，拾取和稳定以及灵巧抓取和重新抓取在内的问题。第二阶段研究了两对机器人手臂和手的协调进行切割，并综合了轨迹和控制来实现不同的切割技能。该阶段需要解决的技术问题包括材料粘弹性、接触检测、动态切割规划和执行、手臂和手的轨迹规划以及视觉和力数据的融合。

This research will form a theory of robotic cutting and manipulation of soft and irregularly shaped objects. Applications of the results are leading to more skillful dexterous robots geared for a range of industrial applications, improving safety risks, and increasing reliability and consistency. The technical goal of this project is to understand in depth about manipulation of delicate, flexible, and slippery items, handling of tools with skills, coordination among robotic arms and hands, and motion planning and control based on multi-modality sensing and deformable modeling. The project consists of two phases. The first phase develops strategies for basic maneuvers of cutting devices, tackling issues that include vision-guided hand placements, large deformable modeling in real time, pickup and stabilization, and dexterous grasping and re-grasping. The second phase investigates coordination of two robotic arm-hand pairs to carry out cutting, and synthesizes trajectories and controls to implement different cutting skills. Technical issues to address in this phase include material viscoelasticity, contact detection, cut planning and execution on the fly, arm and hand trajectory planning, and fusion of visual and force data.