SGER: Real-Time Continuum Manipulation

这个SGER项目将在连续骨干“连续体”机器人机械手控制方面进行基础理论和经验研究。该项目的主要目标是在硬件上演示连续体机器人操作的实际控制。连续体结构具有改变许多机器人应用性质的潜力。然而，部署这些机器人还不实际，在很大程度上是由于在应用传统的机器人控制技术的困难。拟议的一年探索性研究旨在通过建立成功控制连续体机器人的新技术的实用能力，为更广泛的连续体机器人研究和应用奠定基础。我们将设计和实现一系列新颖的连续体机器人控制器，考虑到这些系统中内置的合规性的影响。控制器将使用克莱姆森大学的一个独特的硬件测试台进行测试，该测试台采用OctArm系列连续体机器人手臂。我们将在OctArm硬件上实现所有开发的控制器，并在各种轨迹和操作任务中进行测试。

This SGER project will conduct basic theoretical and empirical work in control of continuous backbone "continuum" robot manipulators. The key goal of the project is to demonstrate, in hardware, practical control of continuum robot manipulation. Continuum structures have the potential to transform the nature of many robot applications. However, deployment of these robots is not yet practical, in large part due to difficulties in applying conventional robot control techniques. The proposed one year exploratory research is intended to lay the foundations for wider continuum robot research and application by establishing the practical ability of new techniques to successfully control continuum robots. We will design and implement a series of novel continuum robot controllers, taking into account the effects of the compliance built into these systems. The controllers will be tested using a unique hardware test bed at Clemson University featuring the OctArm series of continuum robot arms.We will implement all the developed controllers on the OctArm hardware, and test across a wide variety of trajectories and manipulation tasks.