RIA: Dextrous Manipulation, Task Execution and Symmetrics inFingertip Design

这项研究解决了需要一个更灵活， 多功能多指机械手， 机器人手臂的灵活性。它的目标是完成一个 统一的方法来分析灵巧操作， 以及基于此功能的机器人手的设计。 该研究是通过应用技术， 微分和计算几何，非线性 控制，符号计算，动力系统理论和 自由运动规划 随着灵巧的操作， 主要目标，机器人手设计的标准。 该项目有一个实验性的组成部分， 这些概念在现有的致动器上实现。 这 研究预计将影响几个基本问题， 机器人学，包括非完整运动规划，协调 控制，抓取和任务规划，几何建模和 手指运动学和致动器设计。

This research addresses the need for a more flexible, versatile and multifingered robotic hand to augment the dexterity of a robotic arm. Its objective is to complete a unified approach to the analysis of dexterous manipulation, and the design of robotic hands based on this functionality. The research is implemented by applying techniques in differential as well as computational geometry, nonlinear control, symbolic computation, dynamical system theory and free motion planning. With dexterous manipulation as the primary goal, criteria for robotic hand design are developed. The project has an experimental component whereby the design concepts are implemented on existing actuators. This research is expected to impact several fundamental issues in robotics, including nonholonomic motion planning, coordinated control, grasping and task planning, geometrical modeling and finger kinematics and actuator design.