REU: SGER: Stratified Robotic Manipulation Experimental Platform

摘要：约翰·w·古德温，圣母大学99,996 - 12美元。SGER：分层机器人操作的实验研究这个项目的主题是关于分层系统的实验研究，其主要目标是通过实验确定理论分层控制方法对控制实际机器人系统的有效程度。从本质上讲，分层系统是可以有多个物理接触的系统（例如机器人的手或机器人的腿运动），这导致了一个通用的结构，表征了机器人的配置空间。这种通用结构可以用于控制目的。该项目将实现多个机器人机械手对物体的协调操作，允许部分或全部机械手间歇地接触物体。该方法的新颖之处在于它以足够的数学通用性来表述，因此控制算法适用于要操纵的广泛类别的对象。PI先前开发了分层系统的运动规划算法；然而，它们基本上是开环的。由于难以准确地模拟机械臂与物体接触或分离的力学过程，因此纯开环控制方法很难实现非常精细和精确的运动。此外，由于分层系统的高度非线性性质，运动中的小初始误差将随着时间的推移而增长，从而使精确的大尺度运动变得困难。实验的目标是确定这些困难的实际程度和性质，并将感官信息（视觉和接触传感器）纳入离散反馈控制意义，以提高分层控制方法的有效性。此外，自适应控制方法将用于补充分层运动规划算法，以提高其鲁棒性。

Abstract IIS-9910602Goodwine, John W. University of Notre Dame$99,996 - 12 mos.SGER: Experimental Study of Stratified Robotic Manipulation The subject of this project is experimental research concerning stratified systems with a main goal of experimentally determining the practical extent to which theoretical stratified control methodologies are effective to control real robotic systems. Essentially,stratified systems are systems which can have multiple physical contacts (such as robotic hands or legged robotic locomotion), which results in a generic structure characterizing the configuration space for the robot. This generic structure can be exploited for control purposes. This project will implement coordinated manipulation of objects by multiple robotic manipulators allowing for intermittent engagement of the objects by some or all of the manipulators. The novelty of the approach is that it is formulated in sufficient mathematical generality so that the control algorithms are applicable to a broad class of objects to be manipulated. The PI has previously developed motion planning algorithms for stratified systems; however, they are fundamentally open loop. Because of the difficulty of accurately modeling the mechanics of a manipulator engaging or disengaging an object, very fine and precise motion will be difficult with a purely open loop control methodology. Also, because of the highly nonlinear nature of stratified systems, small initial errors in motion will tend to grow with time making accurate large scale motions difficult as well. The goals of the experiments are to determine the practical extent and nature of these difficulties and to incorporate sensory information(both vision and contact sensors) in a discrete feedback control sense to improve the effectiveness of the stratified control methodology. Additionally, adaptive control methodologies will be used to supplement the stratified motion planning algorithms to enhance their robustness.