Dynamical Dexterity in Robotic Manipulation

今年是连续三年获奖的第一年。 本研究主要集中在分析和实验研究， 机器人操作的动态灵活性，寻址 规划、协调和有效利用方面的基本问题 有限的感官能力。 这项研究建立在PI的基础上， 以前的研究机器人杂耍的物体在两个维度; 现在将其扩展到三维。 范式 应付各种各样的问题需要一种全面的、以任务为导向的规划方法 和控制，涉及跟踪一个或多个对象， 空间，轨迹匹配，柔性间歇接触 或撞击，以及真实的时间中感测和操纵的耦合。 结果应该为知识库提供丰富的补充 用于设计和执行各种机器人任务 包括动态操纵飞行中的物体， 流水线作业，以及一些形式的动态腿 运动

This is the first year of a three-year continuing award. The research focuses on analytical and experimental study of dynamical dexterity in robotic manipulation, addressing fundamental issues in planning, coordination, and effective use of limited sensory capabilities. The research builds on the PI's previous research on robot juggling of objects in two dimensions; this will now be extended to three dimensions. The paradigm of juggling demands a holistic, task-oriented approach to planning and control, involving tracking of one or several objects in space, trajectory matching, making compliant intermittent contact or impact, and coupling of sensing and manipulation in real time. The results should provide a rich addition to the knowledge base for design and execution of a wide variety of robotic tasks including dynamical manipulation of objects on the fly for rapid assembly-line operations, and some forms of dynamic legged locomotion.