RI: Small: Robot Grasping of Deformable Objects

可变形物体在我们的日常生活中无处不在。 操纵它们的能力是衡量机器人智能和灵活性的重要标准。 该项目研究了与机器人抓取可变形物体相关的几个基本问题（这仍然是一个欠发达的研究领域）：（i）抓取形成的有效和交互式建模;（ii）分析和合成两个手指挤压抓取，了解弹性的作用;（iii）抵抗和吸收外力;（iv）实现抓取的传感和力控制。一个名为GraspDeform的图形界面正在开发中，不仅用于仿真目的，而且还可以帮助设计，评估和实施机器人平台上的抓取策略。PI希望通过研究接触、应变能、弹性常数和摩擦力等问题，深入了解变形情况下抓取的几何和力学。该项目旨在证明机器人手可以可靠地抓住各种可变形物体。 研究结果有望大大拓宽可变形物体的操纵研究，影响计算机图形学中的可变形建模，并在医疗和家庭机器人中具有潜在的应用。 将通过开发一个关于可变形抓取的互动网站向研究界传播这些信息。

Deformable objects are ubiquitous in our daily life. The ability to manipulate them is an important measure of the robot's intelligence and dexterity. This project investigates several fundamental issues related to robot grasping of deformable objects (which has remained an underdeveloped research area): (i) efficient and interactive modeling of grasp formation; (ii) analysis and synthesis of two-finger squeeze grasps with understanding of the role of elasticity; (iii) resistance to and absorption of external forces; and (iv) sensing and force control for grasp achievement. A graphical interface called GraspDeform is under development not only for simulation purpose, but also to assist the design, evaluation, and implementation of grasping strategies over a robot platform. The PI hopes to acquire in-depth understanding about the geometry and mechanics of grasping in the presence of deformation, by examining issues like contact, strain energy, elasticity constants, and friction. The project intends to demonstrate that a robot hand can reliably grasp various deformable objects. Results are expected to considerably widen up research on manipulation of deformable objects, influence deformable modeling in computer graphics, and have potential applications in medical and home robotics. They will be disseminated to the research community via the development of an interactive website on deformable grasping.