A geometric approach to in-hand manipulation with rolling contact

滚动接触手动操作的几何方法

• 批准号: DE170101062
• 负责人: Dr Lei Cui
• 金额: $ 25.19万
• 依托单位: Curtin University
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Early Career Researcher Award
• 财政年份: 2017
• 资助国家: 澳大利亚
• 起止时间: 2017-01-01 至 2021-06-30
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DE170101062
• 关键词: geometric; approach; hand; manipulation; rolling

This project aims to eradicate barriers to in-hand manipulation and design robot hands as dexterous and adaptable as the human hand. It will use the curvature theory of smooth surfaces and Lie Group theory to establish a coordinate-independent kinematic formulation of a robot hand with rolling contact and rectify the current singularity theory of in-hand manipulation. It will also use discrete differential geometry to establish a discrete contact theory, which will be integrated into the proposed geometric framework to fully exploit modern tactile fingertips’ functionality. The expected outcome is robot hands with the dexterity and adaptability of the human hand.

这个项目旨在消除手操作的障碍，设计出像人手一样灵巧和适应性强的机器人手。利用光滑曲面曲率理论和李群理论，建立具有滚动接触的机械人手的不依赖坐标的运动公式，对现有的手操作奇点理论进行修正。它还将使用离散微分几何来建立离散接触理论，该理论将整合到所提出的几何框架中，以充分利用现代触觉指尖的功能。预期的结果是机器人手具有人手的灵活性和适应性。