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.

拟议的研究旨在开发一种新的驱动方法，非常适合在人类环境中运行的新一代机器人，并从以下角度对分布式宏观微型驱动（DM2）方法进行验证和评估的全面实验研究：对安全和性能的看法。 DM2 的方法论解决了机器人的安全性和性能特征。 DM2 方法采用一对并联连接并分布到机器人不同关节的执行器。通过隔离执行器的反射惯量，大幅降低了机器人整体的有效惯量，同时大大减轻了机械手的整体重量。通过与关节搭配的小型执行器来保持性能。这种方法的关键新颖之处在于驱动综合，除了连续扭矩大小需求的传统分析之外，还引入了机器人控制中执行器频率响应的实际要求。特别令人感兴趣的是对机器人与其周围环境之间的三维碰撞中的冲击力的分析。将使用两项安全标准措施来量化减少冲击力方面的安全性改进。此外，机器人的性能特征将根据传统的低阻抗设计进行评估。该项目提出的努力有可能大大有助于加速人性化机器人各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，以及传统的机器人组装和自动化领域。该领域可以扩展到需要密切人机交互的环境和任务，从而大大增加可用于机器人增强的制造和装配任务的范围。最后，复杂的系统，例如类人机器人系统，需要固有的安全性才能被广大公众接受。该项目中的研究活动以及大部分基础分析和概念验证将为研究生提供重要的培训和发展机会，并在夏季学期为本科生提供重要的培训和发展机会，作为大学资助的夏季研究项目的一部分。斯坦福机器人实验室提供教育和推广机会。研究结果和硬件演示作为斯坦福大学正式课程的一部分以及实验室向校友、行业和中学组织推广的一部分进行展示。