SGER: Impact Modeling and Control for Human Robot Interaction

SGER：人机交互的影响建模和控制

• 批准号: 0738091
• 负责人: Warren Dixon
• 金额: $ 5万
• 依托单位: University of Florida
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-08-01 至 2008-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0738091&HistoricalAwards=false
• 关键词: SGER; Impact; Modeling; Control; Human

Motivation for this SGER project is to examine the ability of a robot to deliver a controlled impact force for evolving human-robot-interaction (HRI) tasks such as robotic rehabilitation and robotic medical imaging applications. Efforts in this project will focus on model development and experimental verification of impact models between a robotic system and a deformable surface. These models will be included in new control designs to enable a robot to rapidly transition from non-contact to contact with a human tissue phantom. Unlike discontinuous and infinitely rigid ?hard-on-hard? impact models developed for manufacturing applications, the continuous impact models in this project will target impact of a robot with deformable tissue. As a result new continuous controllers can be developed that include the impact dynamics in the control design. The experiments proposed in this project will be used to support the idea of imparting controlled impact forces. The scientific outcomes of the SGER and subsequent efforts will provide an inroad to new applications where humans and robots share a common working envelope where contact is beneficial.

该SGER项目的动机是检查机器人为不断发展的人类机器人交流（HRI）任务提供受控影响力的能力，例如机器人康复和机器人医学成像应用。该项目的努力将着重于模型开发和实验验证机器人系统和可变形表面之间的影响模型。这些模型将包含在新的控制设计中，以使机器人能够从非接触术快速过渡到与人体组织幻影接触。与不连续和无限僵硬？为制造应用开发的影响模型，该项目的连续影响模型将针对具有可变形组织的机器人的影响。结果，可以开发新的连续控制器，其中包括控制设计中的影响动态。该项目中提出的实验将用于支持赋予受控影响力的想法。 SGER的科学成果以及随后的努力将为人类和机器人共享一个共同的工作信封的新应用程序提供侵入，在这种应用程序中，接触是有益的。