SBIR Phase I: Personal Service Robotics with Tiered Human-in-the-Loop Assistance

SBIR 第一阶段：具有分层人在环协助的个人服务机器人

• 批准号: 1142743
• 负责人: Matei Ciocarlie
• 金额: $ 14.97万
• 依托单位: Willow Garage, Inc.
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-01-01 至 2012-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1142743&HistoricalAwards=false
• 关键词: SBIR; Phase; Personal; Service; Robotics

This Small Business Innovation Research (SBIR) Phase I project proposes a methodology and novel algo-rithms for Personal Service Robotics. Recognizing that, in unstructured environments, autonomous roboticsalone is not yet reliable enough for performing complete tasks, and complete manual teleoperation is toolabor intensive, this approach combines autonomous operation with human assistance in a Tiered Human-in-the-Loop framework. At all levels, the autonomy will request help when unexpected or anomalous eventsoccur. For example, at high levels the user may be asked to identify objects or adjust plans. At the low levelthe user may be asked to remote control the robot end-e^ector to unstick a wedged object. Automationwill focus on the most frequent task components, including motion planning, object grasping, and simplerigid-environment manipulation. The major innovations arise from (a) the design of limit-aware autonomyin each of these areas, requesting human intervention when needed and (b) multi-tiered human-assistedfallback options that necessitate greater involvement for severe failures or complex circumstances. Phase Iwill demonstrate an operator assisting a robot completing personal service tasks in non-industrial environ-ments. Phase II will parallelize for an operator supporting multiple robots, with the multiplicative e^ectdemonstrating overall labor savings.The broader impact/commercial potential of this project includes accelerating the deployment of robotsin unstructured environments, extending the market for personal robotic services beyond single-purposeautonomous devices, and increasing access to in-home assistance in daily living for an aging population.With demographics shifting to an older population, we face a major shortage of manual labor, particularlyfor unskilled work. This will impact the o;ce and home environments, and dramatically a^ect the olderpopulation for whom daily tasks become increasingly burdensome, but also for whom appropriate serviceworkers may not be available. Allowing an operator to assist robots performing personal service tasks canincrease the productivity of such labor and perform greater personal service than traditionally possible.Meanwhile, customers are clearly ready to invest into robotic technology. For reference, even today's highly-limited personal and home robots created a $1.28 Billion global market. A human-in-the-loop personal servicerobot will greatly expand that market, as well as create markets for operator services and infrastructures.Delivering personal robotic service will have the immediate bene ts of reduced labor costs and increasedproductivity, while also allowing older adults to age in familiar housing and retain greater independence.

这项小型企业创新研究（SBIR）I阶段项目提出了一种用于个人服务机器人技术的方法和新颖的算法。认识到，在非结构化的环境中，自主机器人龙还不够可靠，可以执行完整的任务，并且完整的手动远程操作是工具的密集型，因此这种方法将自主操作与人类的援助结合在一起，并在层次的人类框架框架中。在各个层面上，自主权将在意外事件或异常事件时请求帮助。例如，在高水平上，可以要求用户识别对象或调整计划。在低级别，可以要求用户远程控制机器人End-e ector，以解开楔形对象。 Automation Will将关注最常见的任务组件，包括运动计划，对象抓握和简单环境的操纵。主要创新是由（a）限制意识自动素设计的每个领域的设计，要求在需要时进行人工干预以及（b）多层的人类辅助坠落期权，需要更大的参与严重失败或复杂的情况。 IWILL阶段展示了一个操作员，可以协助机器人完成非工业环境中的个人服务任务。第二阶段将与支持多个机器人的操作员并行化，并具有多重的ecectdendent示意整个劳动力节省。该项目的更广泛的影响力/商业潜力包括加速自动化环境中的robots中的robots，将个人机器人服务的市场延伸到市场上，超越单一核能范围的人群，并增加了较高的人群的范围，并逐渐启用了较高的人群，并助长了人们的范围。体力劳动的严重短缺，特别是不熟练的工作。这将影响o; ce和家庭环境，并极大地伴随着较旧的人群，每天的任务变得越来越繁重，但也可能没有适当的服务工人。允许操作员可以协助执行个人服务任务的机器人cancinclase canincress cancress concriase cancriase taincress劳动力的生产力，并执行比传统上可能的更大的个人服务。同时，客户显然已经准备好投资于机器人技术。作为参考，即使在今天，高度有限的个人和家庭机器人也创造了12.8亿美元的全球市场。人类的个人服务生物体将大大扩展该市场，并为运营商服务和基础设施创造市场。送达个人机器人服务将立即带来降低的人工成本和增长生产率的收益，同时还允许老年人在熟悉的住房中年龄增长，并保持熟悉的住房和更大的独立性。