RI: Medium: Planning and Control for Dynamic Robotic Manipulation

操纵允许机器人通过在其上执行机械工作来改变其环境。与移动相结合，自主操作将成为未来机器人系统的关键使能能力，用于探索、家庭护理、军事、工业和空间应用。虽然目前大多数机器人操作包括简单的抓取和搬运操作，但操作方法的范围要广泛得多，包括投掷、推送、滚动、滑动、敲击等。人类和动物每天都会使用这些方法，但机器人不会。缺乏一个理论框架来组合和排序这些操作方法，以实现机器人操作的自动规划和控制。该项目致力于通过弥合从单个机器人操作原语到完整操作序列规划的差距来实现自主操作。该项目正在开发理论工具、基于力学的操作规划框架、反馈控制算法，以及包含高速视觉的实验操作试验台。为自主规划和执行操作序列而开发的工具将允许未来的机器人用户在比目前可能的抽象程度更高的水平上对机器人进行编程。例如，用户可以简单地说“将对象A放在对象B上”，而不是对电机的低级控制进行编程。这将通过允许非专家与机器人互动来帮助个人机器人领域的发展。这项工作的国际合作伙伴包括意大利和日本的领先实验室。这些合作为研究生和本科生研究人员提供了接触世界领先的机器人操纵专家的独特途径。

Manipulation allows a robot to alter its environment by performing mechanical work on it. Combined with locomotion, autonomous manipulation will be a key enabling capability in future robot systems for exploration, home care, military, industrial, and space applications. While most current robotic manipulation consists of simple grasp-and-carry operations, the spectrum of manipulation methods is much broader, including throwing, pushing, rolling, sliding, tapping, etc. Humans and animals make use of these methods on a daily basis, but robots do not. What is missing is a theoretical framework for combining and sequencing such manipulation methods for automatic planning and control of robotic manipulation.This project is working toward autonomous manipulation by bridging the gap from individual robotic manipulation primitives to full manipulation sequence planning. The project is developing theoretical tools, a mechanics-based manipulation planning framework, feedback control algorithms, and an experimental manipulation testbed incorporating high-speed vision. The tools developed for autonomous planning and execution of manipulation sequences will allow future robot users to program robots at a much higher level of abstraction than currently possible. For example, instead of programming low-level control of motors, the user can simply say "place object A on object B." This will help grow the field of personal robotics, by allowing non-experts to interact with robots.International partners in this work include leading laboratories in Italy and Japan. These collaborations provide unique access for graduate and undergraduate researchers to the world's leading experts in robotic manipulation.