9309823 Kao The goal of this research is to investigate and apply dextrous manipulation in sliding and rolling using compliant end-effectors, and to control sliding. The results are important for assembly of compliant parts, fixturing, and tasks involving pushing and sliding. Dextrous sliding manipulation is useful in motion planning, slip prediction and recovery, object re-orienting, and regrasping in robotics. Recent work in dextrous sliding manipulation has either focused on planar, quasistatic motions or employed simplified contact models such as point contact. To accomplish this goal, the first step is to develop three- dimensional dynamic dextrous manipulation with various contact models. The second step is to incorporate the results of this research with existing research in the areas of rolling and nonholonomic manipulation. Finally, the control algorithms will be implemented using compliant hands with sliding and dextrous manipulation. The results of this proposed research can be used to control fingers to follow prescribed motion trajectories via sliding manipulation involving external and internal forces, stiffness, and motion control. The outcome, when it is incorporated with nonholonomic manipulation, can formulate a complete solution to dextrous robotic manipulation that involves shifting of contact locations. The control schemes developed using the theoretical foundation of sliding and dextrous manipulation can be applied in autonomous tele-manipulation and manufacturing automation such as fixturing planning, tasks involving pushing and sliding, and assembly.
