Managing Uncertainty: Principles for Robust and Dexterous Continuum Mechanics
Abstract
In this project we explore the underlying scientific principles of programming continuously deformable structures to perform rich and diverse interactions with the physical environment. In particular, we will focus on interactions with diverse geometries (as in object manipulation, or locomotion on terrain) with an emphasis on uncertainty: having imperfect knowledge of the geometric, inertial, and impedance properties of the objects or environment, as well as limited, noisy proprioception and actuation. Our strategies will be guided by biology, taking inspiration from biological counterparts and quantifying the relative performance of our engineered and model systems.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 11, 2018
- Source ID
- W911NF1510166
Entities
People
- Anette E. Hosoi
Organizations
- Army Contracting Command
- Massachusetts Institute of Technology
- United States Army