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Foundations of Robotics Seminar, April 21, 2011
Time
and Place | Seminar Abstract
Reengineering the Hand: Novel Approaches to Robotic Manipulation
Aaron Dollar
Assistant Professor of Mechanical Engineering & Materials Science
Yale University
Thursday, April 21, 2011
NSH 3305
Talk 4:30 pm
Despite decades of research, current robotic systems are unable
to reliably grasp and manipulate a wide range of unstructured objects in
human environments. Part of the reason for this failure is the nature of the
approach that has been taken: attempting to copy the immense mechanical
complexity of the human hand in a stiff .robotic. mechanism and the
subsequently required levels of sensing and control. Alternatively, with
careful attention to the design of the mechanics of hands, including
adaptive underacted transmissions and carefully tuned compliance, we have
been able to achieve a level of dexterity and reliability as yet unseen in
the robotics community. I will describe ongoing efforts to further develop
grasping and dexterous manipulation capabilities in engineered systems and
utilizing our approach in applications ranging from prosthetics to
manipulation from small aerial vehicles.
Aaron Dollar is an Assistant Professor of Mechanical Engineering and
Materials Science at Yale University. He is the Director of the GRAB Lab,
which conducts research into robotic grasping and manipulation, prosthetics,
and assistive and rehabilitation devices. Prof. Dollar is co-founder and
editor of RoboticsCourseWare.org, an open repository for robotics
pedagogical materials, and the recipient of the 2011 AFOSR Young
Investigator Award, 2010 Technology Review TR35 Young Innovator Award, and
the 2010 NSF CAREER Award.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.