SGER: Experimental Validation of a Human-Friendly Robot Testbed

SGER：人性化机器人测试台的实验验证

• 批准号: 0531297
• 负责人: Oussama Khatib
• 金额: $ 9万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-05-01 至 2006-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0531297&HistoricalAwards=false
• 关键词: SGER; Experimental; Validation; Human; Friendly

The proposed research is to develop a new actuation methodology well suited for the emerging generation of robots conceived to operate in human environments, and to conduct a comprehensive experimental study of validation and evaluation of the distributed macro mini actuation (DM2) methodology from the point of views of safety and performance. The methodology of DM2 addresses both the safety and performance characteristic of a robot. The DM2 approach employs a pair of actuators, connected in parallel and distributed to the different joints of the robot. The effective inertia of the overall robot is substantially reduced by isolating the reflected inertia ofthe actuator while greatly reducing the overall weight of the manipulator. Performance is maintained with small actuators collocated with the joints. The key novelty in this approach lies in an actuation synthesis that introduces, in addition to the conventional analysis of continuous torque magnitude needs, the actual requirements in actuator frequency responses in robot control. Of particular interest is the analysis of impact forces in a three dimensional collision between a robot and its surroundings. Two safety standard measures will be used to quantify the improvement in safety in terms of reduction of impact force. In addition, the robot performance characteristics will be evaluated against traditional low-impedance design.The effort proposed in this project has the potential to greatly contribute to accelerating the research and technology development in various aspects and application areas of human-friendly robotics. Such applications include robotic prosthetic and assistive devices, as well as traditional areas of robotic assembly and automation. This area can be expanded to environments and tasks, which require close human-robot interaction, greatly increasing the range of manufacturing and assembly tasks available for robotic augmentation. Finally, complex systems, such as human-like robotic systems, will require inherent safety to be acceptable to the public at large. The research activities and much of the underlying analysis and concept validation in this project will provide an important training and development opportunities to graduate students and during the summer quarter to undergraduate students as part of university sponsored summer research programs. Educational and outreach opportunities are provided through the Stanford Robotics Laboratory. The research results and hardware demonstrations are presented as part of formal course work at Stanford as well as part of the Laboratory outreach efforts to alumni, industry, and secondary school organizations.

拟议的研究是开发一种新的驱动方法，非常适合于在人类环境中运作的新兴机器人，并从安全和绩效的观点中对分布式宏观迷你促进（DM2）方法进行验证和评估进行全面的实验研究。 DM2的方法既解决机器人的安全性和性能特征。 DM2方法采用了一对执行器，并并行连接并分布到机器人的不同关节。通过隔离执行器的反射惯性，同时大大减少操纵器的整体重量，可以大大降低整个机器人的有效惯性。性能与与关节相处的小型致动器保持一致。这种方法的主要新颖性在于致动合成，除了对连续扭矩幅度需求的常规分析之外，还引入了诱导的综合，但机器人控制中执行频率响应的实际需求。特别有趣的是对机器人及其周围环境之间三维碰撞的影响力的分析。将使用两项安全标准措施来量化减少影响力的安全性改善。此外，将根据传统的低阻抗设计评估机器人性能特征。该项目中提出的努力有可能极大地加速人类友好机器人技术的各个方面和应用领域的研究和技术开发。此类应用包括机器人假肢和辅助设备，以及机器人组装和自动化的传统领域。该区域可以扩展到环境和任务，这些环境和任务需要密切的人类机器人互动，从而大大增加了可用于机器人增强的制造和组装任务的范围。最后，复杂的系统（例如人类机器人系统）将需要固有的安全性才能被整个公众接受。该项目中的研究活动以及许多基本分析和概念验证将为研究生提供重要的培训和发展机会，并在夏季季度为本科生提供了一部分，这是大学赞助的夏季研究计划的一部分。通过斯坦福机器人实验室提供教育和外展机会。研究结果和硬件演示是斯坦福大学正式课程工作的一部分以及对校友，工业和中学组织的实验室外展工作的一部分的一部分。