The research will explore the mechanics of robotic manipulation operations. The short-range goal is to demonstrate, both theoretically and experimentally, an autonomous robot that is competent in simple manipulation domains. The long-range goal is to build a systematic foundation for autonomous robotic manipulation. The proposed work falls into two areas: (1) the mechanics of simple manipulator operations. In this area the operations of grasping, pushing and squeezing, and striking will be addressed; and (2) exploration of simple manipulation task domains. The task domains will involve several different operations within the task domain; however, the domain will initially be simple and proceed to greater complexity as the work progresses.
