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Foundations of Robotics Seminar, April 12, 2011
Time
and Place | Seminar Abstract
Kinematics of Sliding-Rolling Contact and Its Applications to Manipulation
Lei Cui
Robotics Institute
Carnegie Mellon University
Tuesday, April 12, 2011
NSH 3305
Talk 4:30 pm
Real-world grasping and handling situations involve sliding-rolling
contact. The kinematics of sliding-rolling contact of rigid objects is
essential for understanding the kinematics of grasping and solving the
subsequent problems of control of a multifingered hand. Applying the
curvature theory from differential geometry, this work develops
coordinate-invariant kinematic formulations of sliding-spin-rolling
motion and further establishes the characteristic kinematic equations of
multifingered hands in the case of fingertips and object maintaining
point contact, rolling contact, and sliding-rolling contact
respectively.
Lei Cui got his PhD in mechanical engineering in 2010 from King's
College London. He has more than ten peer reviewed publications
including five in leading professional journals such as IEEE Transaction
on Robotics and ASME Transaction: Journal of Mechanical Design and
Journal of Mechanisms and Robotics. He has led a team to design and
develop a reconfigurable carton-folding machine for a project sponsored
by the Engineering and Physical Sciences Research Council of UK and done
two successful demonstrations for project inspections.
His current research centers on the dexterous manipulation and
nonholonomic motion planning.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.