Multi-layered grasp and manipulation system for application in uncertain environments

几十年来，机器人主要在结构整洁、易于理解的“机器人友好型”工业环境中使用，如今，机器人已成功地部署在博物馆、办公楼、百货商店和家庭等“人类友好型”环境中。这些环境通常是不确定的、杂乱无章的，而且大多是杂乱无章的。抓取和操纵是机器人的核心技能。它可以用它的抓手影响它的环境。机器人抓取和操纵领域正在达到一个重要的里程碑。近年来，许多机器人已经证明了它们可以在非结构化环境中可靠地对未知对象执行基本抓取。然而，这些机器人还远远不能具备人类水平的操作技能，如手持操作对象、与非刚性对象交互以及堆叠和使用工具等多对象任务。因此，涉及与不确定的真实世界环境交互的高级操作对当前的方法和依赖于机器人及其周围环境的准确模型的传统方法构成了主要问题。*本研究方案的目标是开发一个集成的系统，该系统可以规划、掌握并学习如何在不确定的环境中抓取对象。这项工作可以对从制造业到精准农业的许多应用产生重大影响。

After decades of using robots in mostly "robot-friendly” industrial environments which are typically structured, uncluttered and well understood, robots today have been successfully fielded in "human-friendly " environments such as museums, office buildings, department stores, and homes. These environments are typically uncertain, unstructured and mostly cluttered.****** Grasping and manipulation is a central skill for a robot. It can impact its environment using its gripper. The field of robot grasping and manipulation is reaching an important milestone. In recent years, many robots have demonstrated that they can reliably perform basic grasps on unknown objects in unstructured environments. However, these robots are still far away from being capable of human-level manipulation skills such as in-hand manipulation of objects, interactions with non-rigid objects, and multi-object tasks such as stacking and tool-usage. As such, advanced manipulations that involve interacting with uncertain real-world environments pose major problems for current approaches and traditional methods that depend on accurate models of the robot and its surroundings. ******The objective of this research proposal is to develop an integrated system that can plan, grasp, and learn how to grasp objects in uncertain environments. This work can have a significant impact on many applications ranging from manufacturing to precision agriculture.