Presidential Young Investigator Award

该项目解决了当前机器人分析工作的实验验证以及机器人新工作的启动。首席研究员在机器人的机械方面有很强的背景，包括机械手力控制、冗余机械手运动学、动态稳定腿运动分析、多指灵巧手操作和模块化自组织机器人系统。所有这些主题都旨在开发复杂的多自由度机床，以提高自动化程度。应用非常广泛，包括空间探索、医学和危险废物清除。该项目将实现一个原型超冗余操作和运动系统以及一个动态稳定的有腿机器人系统。它们将用于演示和验证先前开发的分析模型和算法，并确定未来在机械臂运动学和动力学方面的研究需求。

This project addresses experimental validation of current analytical work in robotics as well as the initiation of new work in robotics. The principal Investigator has a strong background in the mechanical aspects of robotics, including manipulator force control, redundant manipulator kinematics, the analysis of dynamically stable legged locomotion, multi fingered dexterous hand manipulation, and modular self organizing robotic systems. All of these topics are aimed at developing sophisticated multi degree of freedom machines to enhance automation. The applications are quite broad, and encompass space exploration, medicine, and hazardous waste removal. This project will implement both a prototype hyper redundant manipulation and locomotion system as well as a dynamically stable legged robotic system. They will be used to demonstrate and validate previously developed analytical models and algorithms, and to identify future research needs in manipulator kinematics and dynamics.