Collaborative Research Resources: An Experimental Platform for Humanoid Robotics Research

协作研究资源：仿人机器人研究实验平台

• 批准号: 0224419
• 负责人: Jessica Hodgins
• 金额: $ 100万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-03-15 至 2008-02-29
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0224419&HistoricalAwards=false
• 关键词: Collaborative; Research; Resources; Experimental; Platform

This award provides funds to build a state of the art humanoid robot experimental facility at CMU's Robotics Institute. Developing humanoid robots pushes robotics and automation technology forward. Researchers build humanoid robots to test and explore their theories about how humans work. Humanoid robots are beginning to play an economically important role in the service segment of our society. Primarily, humanoid robots inspire. For example Japan is publicizing its humanoid robotics research to get more children interested in science and engineering, currently a major concern in the U.S.The PIs will purchase an upper body humanoid from Sarcos Research Corporation as well as two smaller robots and an advanced interface device. Using the proposed equipment, the PIs will undertake a number of projects which fall into four broad classes: core robotics and vision research that substantially increases the capabilities and skills of robots (Atkeson, Hebert, Rizzi, Pollard), authoring tools that will make it easier for people who are not roboticists and perhaps even not programmers to develop new applications on robots (Hodgins, Hudson, Kuffner), application prototyping and assessment of humanoid robots in various application domains (Pausch, Kiesler), and unifying applications, which involve a large number of interdisciplinary researchers. In addition to the expected robotics researchers, the team includes researchers from HCI and sociology to work on how these robots might be made easy to use and how they will fit into society. Taken together, these projects will significantly expand the ability both to control humanoid robots and to develop applications on them. These projects will also increase fundamental understanding of the power of the human form in a robot, and our fundamental understanding of human motion. The PIs will encourage other researchers at CMU and in the U.S. to use the facility, taking advantage of strengths in vision, speech, and reasoning. Finally, the PIs are using humanoid robots to explore computational models of how human behavior is generated. Using a humanoid robot as a research tool forces the researchers to deal with a complex physical apparatus and complex tasks. The knowledge required to recreate human motions will also serve to increase our understanding of how people move and may lead to advances in physical rehabilitation and sports medicine. In contrast to most biomechanical research, the PIs will attempt to refine scientific understanding of both the functional components of human motion such as locomotion and grasping and also the subtle stylistic components that make it appear normal, humanlike, and expressive. Combining these two components should make the models useful for analyzing the performance of aspiring athletes as well as diagnosing individual problems with locomotion and manipulation.

该奖项提供资金在卡内基梅隆大学机器人研究所建造最先进的人形机器人实验设施。开发人形机器人推动了机器人技术和自动化技术的发展。研究人员建造人形机器人来测试和探索他们关于人类如何工作的理论。人形机器人开始在我们社会的服务领域发挥重要的经济作用。主要是人形机器人激发灵感。例如，日本正在宣传其人形机器人研究，以让更多的孩子对科学和工程感兴趣，这也是美国目前关注的一个主要问题。PI将从Sarcos研究公司购买一个上半身人形机器人，以及两个较小的机器人和一个先进的接口设备。使用拟议的设备，PI 将开展许多项目，这些项目分为四大类：核心机器人技术和视觉研究，可大幅提高机器人的能力和技能（Atkeson、Hebert、Rizzi、Pollard）、编写工具以使其成为现实。对于不是机器人专家甚至可能不是程序员的人来说，更容易开发机器人的新应用程序（Hodgins、Hudson、Kuffner）、各种应用领域中的人形机器人的应用程序原型设计和评估（Pausch、 Kiesler），并统一应用程序，其中涉及大量跨学科研究人员。除了预期的机器人研究人员之外，该团队还包括来自人机交互和社会学的研究人员，致力于研究如何使这些机器人易于使用以及它们如何融入社会。总而言之，这些项目将显着扩展控制人形机器人和开发其应用程序的能力。这些项目还将增进对机器人人体力量的基本理解，以及我们对人体运动的基本理解。 PI 将鼓励卡耐基梅隆大学和美国的其他研究人员使用该设施，充分利用视觉、言语和推理方面的优势。最后，PI 正在使用人形机器人来探索人类行为如何生成的计算模型。使用人形机器人作为研究工具迫使研究人员处理复杂的物理设备和复杂的任务。重现人体运动所需的知识也将有助于增加我们对人们如何运动的理解，并可能促进身体康复和运动医学的进步。与大多数生物力学研究不同，PI 将尝试完善对人类运动功能组成部分（如运动和抓握）以及使其显得正常、人性化和富有表现力的微妙风格组成部分的科学理解。将这两个组件结合起来应该使模型可用于分析有抱负的运动员的表现以及诊断个人运动和操纵问题。