Presidential Young Investigator Award: Computer Science: Extending the Capabilities of Robotic Systems (Computer and Information Science)

这项研究的重点是探索视觉和触觉感知在复杂的机器人任务中的整合，如操纵和装配。这项研究是在两个独立的项目中进行的。首先是创造一种多臂机器人试验台，利用高速、帧速率的视觉传感来跟踪运动部件。视觉系统安装在机械臂上，并通过视觉传感对机械臂的伺服控制进行修改。该视觉系统将利用金字塔和尺度空间对目标进行实时分割和跟踪，并与机械臂相连的智能触觉传感器/夹持器可以监测接触力和力矩，从而实现视觉伺服夹持器对运动部分的安全稳定抓取。一旦抓住物体，它就可以使用两个机械臂进行协调组装任务。第二个项目涉及犹他州/麻省理工学院的灵巧之手。第一个任务是构建一组已经定义的高级原语，它们可以组合成抓取语言来创建抓取/操作序列的程序。下一个任务是开发和评估与手一起使用的新型触觉传感器，以支持智能抓取的要求。通过增加触觉感觉反馈，提出了一种利用位置、力和触觉反馈进行手部控制的混合控制算法。

The focus of this research is to explore the integration of vision and tactile sensing in complex robotic tasks such as manipulation and assembly. The research is being carried on in two separate projects. The first is the creation of a multi-arm robotic test bed that utilizes high speed, frame-rate vision sensing to track a moving part. The visiion system is mounted on a robotic arm and the servo control of the arm is modified by the vision sensing. The vision system will utilize pyramids and scale-space in order to segment and track the objects in real- time.Attached to the robotic arm is an intelligent tactile sensor/gripper that can monitor contact forces and moments, resulting in the secure and stable grasping of the moving part by the visually-servoed gripper. Once the object is grasped, it can be used in coordinated assembly tasks using the two robotic arms. The second project involves the Utah/MIT dextrous hand. The first task is to build a set of higher-level primitives have been defined, they can be combined into a grasping language to create programs of grasping/manipulation sequences. The next task is to develop and evaluate new tactile sensors to be used with the hand in order to support the requirements of intelligent grasping. With the addition of tactile sensory feedback, a hybrid control algorithm will be developed for the hand that utilizes position, force and tactile feedback for hand control.