Study Contact States and Compliant Motion Between General Objects Critical to Real and Virtual World Applications

研究对现实和虚拟世界应用至关重要的一般对象之间的接触状态和顺从运动

• 批准号: 0328782
• 负责人: Jing Xiao
• 金额: --
• 依托单位: University of North Carolina at Charlotte
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-07-15 至 2008-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0328782&HistoricalAwards=false
• 关键词: Study; Contact; States; Compliant; Motion

Robotics and Computer Vision ProgramABSTRACTProposal #: 0328782Title: Study Contact States and Compliant Motion between General Objects Critical to Real and Virtual World ApplicationsPI: Xiao, JingU of NC CharlotteFor real-world robotic operations involving contacts or compliant motion as well as for certain virtual-world applications such as dynamic simulation and haptic interaction, two important and related problems regarding information of contacts among general objects (including robots) remain largely unsolved: (1) how to obtain knowledge of contact states effectively and efficiently for handling motion involving complex contacts, and (2) how to enable automatic on-line (real-time) identification of geometrically valid contact states in the presence of real-world uncertainties or digital approximation errors in virtual environments to ensure valid subsequent action or response. Problem (1) is particularly crucial and challenging for tasks involving a large number of complex contact situations and high-dimensional motion, and Problem (2) is especially critical to tasks with high accuracy requirement, including robotic assembly, manipulation, dynamic simulation, virtual prototyping, and certain haptics applications. This project seeks to find principled solutions to these problems through systematic investigation of a number of fundamental issues related to contact states and compliant motion involving general objects, which include objects with curved surfaces, articulated objects, and certain deformable objects. As an integrated part or derivative of such basic investigation, the project will further study: physically accurate haptic display of contact states in virtual environments, and general compliant motion planning and execution in real world, as well as their related applications. The general problems addressed in this project (as introduced above) are crucial to advancing the state of the art in several related areas and their many applications, including robotics, haptics, and dynamic simulation, and yet there has been little principled and systematic research towards these problems. The PI has studied aspects of the problems restricted to contacts between only polyhedral rigid bodies. Hence, the project represents a very significant, multi-dimensional extension with new and substantial challenges, but not without the considerable foundation built upon the PI's related previous work. The project research activities, aside from its expected contributions to both basic research and a wide range of related applications, will also have a significant impact on student education and research training. The interdisciplinary breadth of the research activities spans many areas in robotics and control, AI and intelligent systems, computational geometry, geometrical and physical modeling and simulation, haptics, computer graphics and virtual environments, as well as human-machine interaction and virtual collaboration. The project is also comprehensive with both theoretical and algorithmic components and experimental and system integration components. It will thus provide a rich and balanced environment that can accommodate students from all levels (from Ph.D. to undergraduate) to obtain knowledge and research training in the various related areas. The research project will also provide an excellent opportunity for (a) cross-discipline research collaboration between the PI and her colleagues at the newly established College of Information Technology (COIT) at UNC Charlotte, and (b) close international collaboration between the PI's group and a leading research group on compliant motion control in Europe. Such collaborations will be instrumental to enhancing research capabilities as well as research infrastructure at the new COIT. The project will clearly enrich student education and contribute significantly to the special goal of COIT of providing students an interdisciplinary learning and research experience in the broad spectrum of Information Technology.

Robotics and Computer Vision ProgramABSTRACTProposal #: 0328782Title: Study Contact States and Compliant Motion between General Objects Critical to Real and Virtual World ApplicationsPI: Xiao, JingU of NC CharlotteFor real-world robotic operations involving contacts or compliant motion as well as for certain virtual-world applications such as dynamic simulation and haptic interaction, two important and related problems regarding information of contacts among general objects （包括机器人）在很大程度上尚未解决：（1）如何有效，有效地获取涉及复杂接触的运动知识，以及（2）如何在现实世界中的不确定性或数字近似环境中确保在虚拟环境中确保有效的有效的响应或响应有效的响应或响应的几何有效接触状态自动自动（实时）识别几何有效的接触状态。问题（1）对于涉及大量复杂的接触情况和高维运动的任务特别重要，并且问题（2）对于具有高准确性要求的任务（包括机器人组装，操纵，动态模拟，虚拟原型和某些Haptics应用程序）尤其重要。该项目旨在通过系统地调查与联系状态有关的许多基本问题和涉及一般物体的合规运动，其中包括具有弯曲表面，铰接式对象和某些可变形物体的对象，该项目旨在找到针对这些问题的原则解决方案。作为此类基本调查的综合部分或衍生产品，该项目将进一步研究：在虚拟环境中的物理准确的触觉显示，以及在现实世界中及其相关应用程序中的一般兼容运动计划和执行。该项目中解决的一般问题（如上所述）对于在几个相关领域及其许多应用（包括机器人技术，触觉和动态模拟）中推进最新技术至关重要，但是对于这些问题来说，几乎没有原则性和系统的研究。 PI研究了仅限于多面体刚性体之间接触的问题的方面。因此，该项目代表了一个非常重要的多维扩展，并面临着新的实质性挑战，但并非没有基于PI相关的先前工作的大量基础。该项目研究活动除了对基础研究和广泛相关应用的预期贡献外，还将对学生的教育和研究培训产生重大影响。研究活动的跨学科广度涵盖了许多领域的机器人和控制，AI和智能系统，计算几何，几何和物理建模和模拟，触觉，计算机图形和虚拟环境以及人机互动和虚拟协作。该项目也具有理论和算法组件以及实验和系统集成组件的全面。因此，它将提供一个丰富而平衡的环境，可以容纳各个层次的学生（从博士学位到本科生），以在各个相关领域获得知识和研究培训。该研究项目还将为（a）新成立的信息技术学院（COIT）与UNC Charlotte的新成立的信息技术学院（COIT）以及（b）PI小组与欧洲领先的领先研究小组之间的主要国际合作的PI和她的同事之间的跨学科研究合作提供了绝佳的机会。此类合作将有助于增强新COIT的研究能力以及研究基础设施。该项目将清楚地丰富学生的教育，并为COIT的特殊目标做出重大贡献，即在广泛的信息技术中为学生提供跨学科学习和研究经验。