Collaborative Research: Grasp and Manipulation Planning in the Presence of Dynamics and Uncertainty

该项目是计算机科学家，数学家和工程师在伦斯勒理工学院（RPI）和宾夕法尼亚大学（U Penn）的多学科努力。 研究的重点将是开发新的规划技术，用于没有间歇性接触就无法成功执行的任务。 这样的任务被称为操纵任务。 操作任务，特别是那些动态影响系统性能和结果的任务，在机器人技术中非常重要。 机器人执行这些任务的能力完全改变了它的性格，从被动的观察者到主动的参与者，能够执行有用的工作，无论是在建筑物倒塌现场协助第一反应者还是在微型设备中组装零件。顺应性间歇性接触。 这些发展正在做的关注实际工程问题（通过实验验证），驱动的数学模型的形式，反过来，算法和mathematics.Broader ImpactsThe结果这个项目是直接适用于一个大类的问题，在运动和操作，是中央正在进行的研究对人形机器人，并在制造业的夹具和装配。 在教育方面，研究小组正在开发一个新的研究生水平的课程操纵规划分析，在宾夕法尼亚大学和RPI，这将是共同教授的共同PI。

This project is a multidisciplinary effort of computer scientist, mathematicians, and engineers at Rensselaer Polytechnic Institute (RPI) and University of Pennsylvania (U Penn). The focus of the research will be on the development of new planning techniques for tasks that cannot be performed successfully without intermittent contacts. Such tasks are referred to as manipulation tasks. Manipulations tasks, particularly those in which the effects of dynamics influence the system performance and outcome, are exceedingly important in robotics. The ability of a robot to perform such tasks completely changes its character from passive observer to active participant capable of performing useful work, whether it be assisting a first- responder on the scene of a building collapse or assembling parts in micro-scale devices.Intellectual MeritThis research requires the simultaneous development of new algorithms and mathematical models for analyzing and predicting the motion of multibody systems with frictional, compliant, intermittent contacts. These developments are being done with attention paid to practical engineering concerns (verified by experiments) that drive the form of mathematical models, and in turn, the algorithms and mathematics.Broader ImpactsThe results of this project are directly applicable to a large class of problems in locomotion and manipulation that is central to ongoing research on humanoid robots, and on fixturing and assembly in manufacturing settings. On the educational front, the research team is developing a new graduate-level course on Manipulation Planning Analysis, across UPenn and RPI, that will be co-taught by the co-PIs.