Presidential Young Investigator Award: Robot Task Encoding and Control

该项目将探索机器人任务的编码和控制，这些任务需要与相当具有挑战性的环境进行交互，涉及几何、运动学和动力学的不确定性，包括投掷、接球、杂耍、倒液体和挥舞手动工具等复杂任务。该方法将符号操作与数值计算相结合，并将评估符号计算的增加表达性与数值计算的数学可证明收敛性之间的权衡。

This project will explore the encoding and control of robotic tasks which require significant interaction with rather challenging environments involving unertainties of geometry, kinematics, and dynamics, including such complex tasks as throwing, catching, juggling, pouring liquids, and wielding hand tools. The approach will combine symbolic manipulation with numerical computation, and will evaluate the tradeoffs between the increased expressivity of the symbolic computations and the mathematically provable convergence of the numerical ones.