RI: Medium: Collaborative Research: Real-Time Continuum Manipulation

RI：媒介：协作研究：实时连续操纵

• 批准号: 0904116
• 负责人: Ian Walker
• 金额: $ 40万
• 依托单位: Clemson University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-08-01 至 2014-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0904116&HistoricalAwards=false
• 关键词: RI; Medium; Collaborative; Research; Real

The goal of this project is to investigate the potential of fundamentally new modes of robotic manipulation using novel continuum robots in less-structured environments with large uncertainties and even unknowns. A continuum robot, such as a trunk/tentacle robot arm, is in many senses ?dual? to a traditional robot manipulator (consisting of an articulated arm and a gripper or hand), featuring relatively low precision but high compliance: * Its inherent flexibility and compliance offer greater promise to enable deft manipulation under imprecise and uncertain conditions of objects over a wider range (orders of magnitude) of size and weight, of many different shapes, and with widely different physical characteristics (rigid, soft, flexible, etc.).. * On the other hand, its inherent lack of precision renders the traditional approaches to planning and control of robot manipulators unsuitable for manipulation with continuum robots. This project pioneers the study of the basic problem of autonomous manipulation of an object with much uncertainty by a single continuum robot. It introduces a novel and holistic approach that integrates real-time adaptive planning and robust control schemes under real-time sensing and large environmental uncertainty. It next extends the basic approach to address multiple continuum robots working in a common environment, where each robot needs not know the motion of another robot. The research combines theoretical/algorithmic development with real-world validation on an experimental test bed with real trunk/tentacle robots equipped with sensors. The results will be actively disseminated through publications, free software, and real-world demos to impact research, education, and applications.

该项目的目的是在较大的不确定性甚至未知的较大的结构化环境中使用新型的连续性机器人来研究机器人操纵的根本新模式。连续机器人，例如树干/触手机器人臂，在许多意义上是二线吗？对于传统的机器人操纵器（由铰接的手臂和握把或手组成），具有相对较低的精度但较高的依从性： *其固有的柔韧性和合规性提供了更大的承诺，可以在不确定和不确定的物体条件下启用范围内的物体条件，而在更大的范围（数量级（数量级））的尺寸和重量，以及许多不同形状的特征，以及其他不同形状的特征，以及其他不同形状的特征（固定），等等。 Hand，其固有的缺乏精确性使得对机器人操纵器的规划和控制的传统方法不适合使用连续机器人操纵。该项目开创了对单个连续机器人对物体进行自主操纵的基本问题的研究。它引入了一种新颖而整体的方法，该方法将实时自适应计划和稳健的控制方案整合在一起，并在实时感应和较大的环境不确定性下整合。接下来，它扩展了解决在共同环境中工作的多个连续机器人的基本方法，每个机器人都需要知道另一个机器人的运动。该研究结合了理论/算法的开发和在实验测试床上，带有带有传感器的真实主干/触手机器人。结果将通过出版物，自由软件和现实的演示来积极传播，以影响研究，教育和应用。