Robot Manipulation Using Impact Dynamics

本课题研究涉及接触条件的灵巧操作动力学问题。典型的主要接触任务包括插入、敲击和撬动等。使用接触动力学的能力通常可以完全改变任务的性质，使其性能比在准静态约束下更快、更简单。具体而言，本研究项目建立了新的动态灵巧抓取和操纵模型，重点研究了碰撞产生的动力学问题；识别涉及接触和冲击的典型动态抓取任务，并开发有效的算法来规划和执行这些任务；并利用多指硬件手对所开发的算法进行了实验验证

9532081 Walker The dynamics of dextrous manipulation involving contact conditions is investigated in this research project. Typical examples of tasks with a predominant contact include insertion, tapping and levering, etc. The ability to use contact dynamics can often completely transform the nature of a task, making its performance faster and simpler than under quasi-static constraints. Specifically, this research project formulates new models of dynamic dextrous grasping and manipulation, focusing on the question of dynamics resulting from impact; identifies canonical dynamic grasping tasks involving contact and impact, and develops effective algorithms for planning and performing these tasks; and experimentally evaluates the developed algorithms using multi fingered hardware hands.***