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CAREER: Towards General-Purpose Manipulation of Deformable Objects through Control and Motion Planning with Distance Constraints

职业：通过距离约束的控制和运动规划实现可变形物体的通用操纵

基本信息

批准号：
1750489
负责人：
Dmitry Berenson
金额：
$ 54万
依托单位：
Regents of the University of Michigan - Ann Arbor
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2018
资助国家：
美国
起止时间：
2018-04-01 至 2024-03-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1750489&HistoricalAwards=false
关键词：
CAREER Towards General Purpose Manipulation

项目摘要

This project seeks to advance the capabilities of autonomous robots in environments such as factories, hospitals, and homes. To be effective in such settings, robots need to manipulate many kinds of deformable objects, such as cloth, string or wires, and plant or animal tissue. Giving robots the ability to manipulate such objects has the potential to revolutionize the use of robots in several application domains: In manufacturing, allowing robots to pack boxes and handle food and fabric; in medicine, allowing robots to perform tedious tasks in surgery and make hospital beds; and in service, allowing robots to handle clothes and prepare food. However, such tasks are beyond the current state-of-the-art, largely because deformable objects are difficult to model and control. This project will develop new theory, validated with extensive experimentation, that aims to model deformable objects in ways that are amenable to both planning and control. This project will also use manipulation of deformable objects as a motivating problem for students studying robotics at the undergraduate and graduate levels, and in K-12 outreach.This project investigates the fundamentals of modeling, control, and motion planning for deformable objects. This problem is challenging because deformable objects have large state spaces, are extremely-underactuated, and motion planning for these objects requires numerical simulation, which can be computationally expensive and inaccurate. The main hypothesis of this project is that these challenges can be overcome by representing the object and task in terms of distance constraints, which represent allowable distances between parts of the deformable object as well as between the object and parts of the environment, and formulating control and planning methods based on this representation. The expected outcome of this research is an enhanced ability of robots to perform useful tasks, based on a better understanding of deformable object manipulation and a set of broadly-applicable experimentally-verified controllers, planning building-blocks, and planning algorithms.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目旨在提高自主机器人在工厂、医院和家庭等环境中的能力。为了在此类环境中发挥作用，机器人需要操纵多种可变形物体，例如布料、绳子或电线，以及植物或动物组织。赋予机器人操纵此类物体的能力有可能彻底改变机器人在多个应用领域的使用：在制造业中，允许机器人包装盒子并处理食物和织物；在医学领域，允许机器人执行手术中繁琐的任务和整理医院床位；在服务中，机器人可以处理衣服和准备食物。然而，此类任务超出了当前最先进的水平，很大程度上是因为可变形物体难以建模和控制。该项目将开发新的理论，并通过广泛的实验进行验证，旨在以易于规划和控制的方式对可变形物体进行建模。该项目还将利用可变形物体的操纵作为本科生和研究生以及 K-12 外展机器人学学生的激励问题。该项目研究可变形物体的建模、控制和运动规划的基础知识。这个问题具有挑战性，因为可变形物体具有很大的状态空间，并且极度欠驱动，并且这些物体的运动规划需要数值模拟，这可能在计算上昂贵且不准确。该项目的主要假设是，可以通过用距离约束来表示对象和任务来克服这些挑战，距离约束表示可变形对象各部分之间以及对象与环境各部分之间的允许距离，并根据这种表示制定控制和规划方法。这项研究的预期成果是基于对可变形物体操纵的更好理解以及一组广泛适用的经过实验验证的控制器、规划构建块和规划算法，增强机器人执行有用任务的能力。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。