Toward Dynamically Stable Mobile Robots in Human Environments

迈向人类环境中动态稳定的移动机器人

• 批准号: 0308067
• 负责人: Ralph Hollis
• 金额: --
• 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: 2003-06-01 至 2007-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0308067&HistoricalAwards=false
• 关键词: Toward; Dynamically; Stable; Mobile; Robots

Robotics and Human Augmentation ProgramABSTRACTProposal #: 308067Title: Toward Dynamically Stable Mobile Robots in Human EnvironmentsPI: Hollis, RalphCarnegie Mellon U.The goal of the research is to gain deeper understanding of how dynamic agility can be achieved in mobile machines interacting with people and operating in normal home and workplace environments. The work develops and utilizes a novel dynamically stable rolling machine research platform. To illuminate many of the issues surrounding the operation of agile machines in human environments, in particular the ability to traverse narrow, cluttered rooms and to function robustly in the presence of people, we are investigating what could be one of the simplest possible dynamically-stable mobile robots: a machine whose body locomotes using only a single spherical wheel. This enables the machine to be tall and narrow, have a high center of mass, respond compliantly to nudges and shoves, and rapidly move in any direction. The machine will have a vestibular system based on an inertial measuring unit and other sensors with an on-board computer to provide closed-loop control of movement and balance. The efficacy of this new type of rolling locomotion will be evaluated in the context of human environments. Insights will be gained toward the development of agile motive platforms that in the future could be combined with the research community's ongoing work in perception, navigation, and cognition, to yield truly capable intelligent mobile robots for use in physical contact with people. Such robots, if realizable and economically viable, would function as aids to elderly or disabled persons; provide guidance and assistance in public spaces; help with education and entertainment; perform domestic cleaning and housekeeping; or fetch and carry everyday objects. Many other uses such as entry into hostile environments, rescue, and automated surveillance to safeguard people or property can be envisioned.

机器人技术和人类增强程序AbsTractPropoposal＃：308067Title：迈向人类环境中动态稳定的移动机器人：Hollis，Ralphcarnegie Mellon U.该研究的目的是对在与正常的家庭和工作场所相互作用的移动机器中如何实现动态敏捷性，以使其更深入地了解动态敏捷性。 该作品开发并利用了一种动态稳定的滚动机研究平台。 为了阐明围绕人类环境中敏捷机器运行的许多问题，尤其是在人们面前横穿狭窄，混乱的房间并牢固地运行的能力，我们正在研究什么可能是最简单的动态稳定移动机器人之一：一种仅使用单个球形轮的机器的机器。这使机器高高又狭窄，具有高的质量中心，对轻推和铲子做出了良好的反应，并迅速朝任何方向移动。该机器将具有基于惯性测量单元和其他传感器的前庭系统，并带有一台机上计算机，以提供对运动和平衡的闭环控制。这种新型的滚动运动的功效将在人类环境的背景下进行评估。敏捷动机平台的发展将获得洞察力，将来可以与研究界在感知，导航和认知方面的持续工作相结合，以产生真正有能力的智能移动机器人，用于与人进行物理接触。 这样的机器人，即使可以实现且经济上可行，它将充当老年人或残疾人的辅助工具。在公共场所提供指导和协助；帮助教育和娱乐；进行家庭清洁和管家；或获取并携带日常物体。 可以设想许多其他用途，例如进入敌对环境，救援和自动监视以保护人或财产。