This is the first year of a three-year continuing award. The research focuses on analytical and experimental study of dynamical dexterity in robotic manipulation, addressing fundamental issues in planning, coordination, and effective use of limited sensory capabilities. The research builds on the PI's previous research on robot juggling of objects in two dimensions; this will now be extended to three dimensions. The paradigm of juggling demands a holistic, task-oriented approach to planning and control, involving tracking of one or several objects in space, trajectory matching, making compliant intermittent contact or impact, and coupling of sensing and manipulation in real time. The results should provide a rich addition to the knowledge base for design and execution of a wide variety of robotic tasks including dynamical manipulation of objects on the fly for rapid assembly-line operations, and some forms of dynamic legged locomotion.
