Presidential Young Investigator Award:  Robotic Assembly
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'K. (Cheena) Srinivasan', 'PO_EMAI': None, 'PO_PHON': None}
This research deals with the mechanical interaction of parts               with each other and with a robot during an assembly operation.                  Since friction is an important element of these interactions,                   techniques will be developed to exploit friction, enhancing both the            capabilities and the reliability (robustness) of robotic assembly               operations.  One technique involves force-controlled manipulation in            which the relationship between the force sensed by the robot arm and            the displacement of the arm from a nominal position can be                      specified.  A theoretical understanding of assembly operations                  performed by a force-controlled robot will be sought, with the                  objective of finding and implementing algorithms for the automated              planning of such assembly operations.  The important, but more                  difficult, inverse problem of designing parts which are easy to                 assemble will be considered.
{'FirstName': 'Michael', 'LastName': 'Peshkin', 'PI_MID_INIT': 'A', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Michael A Peshkin', 'EmailAddress': 'peshkin@northwestern.edu', 'NSF_ID': '000317165', 'StartDate': '10/28/1993', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Northwestern University', 'CityName': 'EVANSTON', 'ZipCode': '602080001', 'PhoneNumber': '3125037955', 'StreetAddress': '633 CLARK ST', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Illinois', 'StateCode': 'IL', 'CONGRESSDISTRICT': '09', 'CONGRESS_DISTRICT_ORG': 'IL09', 'ORG_UEI_NUM': 'EXZVPWZBLUE8', 'ORG_LGL_BUS_NAME': 'NORTHWESTERN UNIVERSITY', 'ORG_PRNT_UEI_NUM': None}
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[{'Code': '1360', 'Text': 'EWFD-Eng Workforce Development'}, {'Code': '1465', 'Text': 'PRODUCTION SYSTEMS'}, {'Code': '1468', 'Text': 'Manufacturing Machines & Equip'}]
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1988&All=true', 'xml': '8857854.xml'}