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Robotic articulated hand for modeling and dexterous manipulation of deformable objects

用于对可变形物体进行建模和灵巧操作的机器人关节手

基本信息

批准号：
359328-2008
负责人：
Payeur, Pierre
金额：
$ 3.45万
依托单位：
University of Ottawa
依托单位国家：
加拿大
项目类别：
Research Tools and Instruments - Category 1 (<$150,000)
财政年份：
2007
资助国家：
加拿大
起止时间：
2007-01-01 至 2008-12-31
项目状态：
已结题

来源：
https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=361803
关键词：
Robotic articulated hand modeling dexterous

项目摘要

Current robotic systems are programmed to handle either rigid objects or consider deformable objects designed for virtual reality applications where the actual physical parameters of elasticity are hardcoded. However, a very large number of everyday life objects are actually non-rigid, and are, therefore, not appropriate for automated manipulation with a standard robot. The main objective of this research is the development of integrated approaches to detect, measure, model and interact with deformable objects whose characteristics are a priori unknown. This is achieved through the development of sensing strategies as well as representation and manipulation schemes for deformable objects that are based on physical measurements of the properties of the non-rigid objects. An autonomous robotic manipulation system is designed following a sequential approach comprised of localization with vision sensors, automated selection of candidate points for tactile probing, force/deformation characteristics measurement, merging of volumetric and deformation properties into an extended representation of deformable objects, and tuning of a force feedback control scheme. The goal is to produce safe and stable manipulation of deformable objects with a dexterous robotic hand equipped with force and tactile sensors. Applications in exploratory robotics, hazardous material handling, automated greenhouses, and assisted surgery are considered.

当前的机器人系统被编程为处理刚性物体或考虑为虚拟现实应用设计的可变形物体，其中弹性的实际物理参数被硬编码。然而，大量的日常生活对象实际上是非刚性的，因此不适合用标准机器人进行自动化操作。本研究的主要目标是开发综合方法来检测，测量，建模和互动的可变形物体的特性是先验未知的。这是通过发展的传感策略，以及表示和操纵方案的基础上的非刚性物体的属性的物理测量的可变形物体。自主机器人操作系统的设计顺序的方法包括定位与视觉传感器，自动选择候选点的触觉探测，力/变形特性测量，合并的体积和变形特性到一个扩展的表示可变形的物体，和调整的力反馈控制方案。我们的目标是产生安全和稳定的操纵变形物体与灵巧的机器人手配备了力和触觉传感器。探索机器人，危险材料处理，自动化温室，辅助手术的应用被认为是。