A Two-Stage Geometric Approach to Planning Robotic Tasks Involving Sliding and Rolling Contacts in Uncertain Environments

9304734特林克今年是一个为期三年的连续奖项的第一年。这项研究解决了机器人系统在不确定环境中执行与可移动物体接触任务的自动规划问题。这门课的任务包括机械装配操作、灵巧操作和精细动作任务。本研究项目的目标是开发一种实用、可靠的机器人接触任务计划器。规划者将分两个阶段进行操作。在第一阶段中，将忽略参数不确定性，以降低要搜索的操作方案的空间的维度。将确定该空间的几何形状，并将识别和避免多体接触模型允许多个解的区域。在第二阶段，将对第一阶段中得到的规划进行修改，使其对不确定参数的变化具有鲁棒性。第二阶段不涉及搜索，因此其计算复杂度将相对较低。然而，它将涉及理解空间中的几何变化作为不确定参数的函数。为了展示拟议的研究结果，将在分布式计算环境中实现平面操作系统的规划器，并在适当的情况下使用并行计算机。将设计和制造一个带有位置、扭矩和触觉传感器的原型机械手系统，以测试生成的计划。***

9304734 Trinkle This is the first year of a three year continuing award. The research addresses automatic planning for robotic systems performing contact tasks with movable objects in uncertain environments. Tasks in this class include mechanical assembly operations, dexterous manipulation, and fine motion tasks. The objective of this research project is to develop a practical, reliable planner for robotic contact tasks. The planner will operate in two stages. In the first stage, parameter uncertainty will be ignored to reduce the dimension of the space to be searched for a manipulation plan. The geometry of that space will be determined and regions in which the multibody contact model admits multiple solutions will be identified and avoided. In the second stage, the plan found in the first stage will be modified to make it robust with respect to variations in the uncertain parameters. The second stage will not involve a search, so its computational complexity will be relatively low. It will however involve understanding the geometric variation in the space as a function of the uncertain parameters. To demonstrate the results of the proposed research, a planner for planar manipulation systems will be implemented in a distributed computing environment, with parallel computers used where appropriate. A prototype manipulator system with position, torque, and tactile sensors will be designed and built to test generated plans. ***