NRI-Large: Collaborative Research: Multilateral Manipulation by Human-Robot Collaborative Systems

NRI-Large：协作研究：人机协作系统的多边操纵

• 批准号: 1227184
• 负责人: Jacob Rosen
• 金额: $ 61.67万
• 依托单位: University of California-Santa Cruz
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-10-01 至 2015-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1227184&HistoricalAwards=false
• 关键词: NRI; Large; Collaborative; Research; Multilateral

This project addresses a large space of manipulation problems that are repetitive, injury-causing, or dangerous for humans to perform, yet are currently impossible to reliably achieve with purely autonomous robots. These problems generally require dexterity, complex perception, and complex physical interaction. Yet, many such problems can be reliably addressed with human/robot collaborative (HRC) systems, where one or more humans provide needed perception and adaptability, working with one or more robot systems that provide speed, precision, accuracy, and dexterity at an appropriate scale, combining these complementary capabilities.The project focuses on multilateral manipulation, which arises when a human controls one or more robot manipulators in partnership with one or more additional controllers (humans or autonomous agents). Complex operations in surgery and manufacturing can benefit from the extra degrees of freedom provided by more than two hands, and training often depends on hands-on interaction between expert and apprentice. Example applications include surgical operations, which typically involve several physicians and assistants, and other medical tasks such as turning a patient in bed and wrapping a cast to constrain a hand. Multilateral manipulation also applies in manufacturing, for example for threading wires or cables, aligning gaskets to obtain a tight seal, and in many household situations, such as folding tablecloths, wrapping packages, and zipping overfilled suitcases so they will fit inside diabolically-designed overhead airline compartments. Multilateral manipulation often arises with deformable materials or multi-jointed objects with more than six degrees of freedom (DOF). The extra DOFs in materials introduce challenges such as computational complexity, but they also can accommodate minor inconsistencies through redundancy and provide system damping. This project advances the fundamental science of multilateral manipulation guided by specific applications from surgery and manufacturing.Broader Impacts: Multilateral manipulation systems have the potential to improve healthcare, improve American competitiveness and product quality in manufacturing, and open the door to new service robot applications in the home. The project will be guided by an Advisory Board of experts from industry and medical practice. Project results will be disseminated through yearly conference workshops, open-source software tools integrated into common robotics software environments such as Robot Operating System (ROS), and the investigators' research and course webpages, to encourage integration of our approach into research projects and courses at many institutions. Outreach programs, public lab tours, and mentoring of minority students will broaden participation of underrepresented groups in engineering. These activities will encourage participation in STEM activities and provide student and postdoctoral researchers with mentoring experience.

该项目解决了重复性，造成伤害或危险的人类执行的大量操纵问题，但目前无法用纯粹的自主机器人可靠地实现。这些问题通常需要灵巧，复杂的感知和复杂的物理相互作用。然而，许多此类问题可以通过人/机器人协作（HRC）系统可靠地解决，其中一个或多个人类提供所需的感知和适应能力，与一个或多个机器人系统一起工作，这些机器人系统可以在适当的范围内提供速度，准确性，准确性和灵活性，以这些互补的能力结合这些互补功能。更多其他控制器（人类或自主代理）。手术和制造业的复杂操作可以从两只以上的手提供的额外自由度中受益，培训通常取决于专家和学徒之间的动手互动。示例应用程序包括手术手术，通常涉及几位医生和助手，以及其他医疗任务，例如将患者躺在床上并包裹铸件以限制手。多边操作也适用于制造，例如，用于螺纹线或电缆，对齐垫圈以获得紧密的密封件，在许多家庭情况下，例如折叠桌布，包装包装和拉链填充过多的行李箱，以便它们可以安装在具有恶魔设计的戴着身材设计的戴着头顶的机架内部。多边操作通常具有可变形的材料或具有六个以上自由度（DOF）的多关节对象。材料中的额外DOF引入了诸如计算复杂性之类的挑战，但它们也可以通过冗余而适应较小的矛盾，并提供系统阻尼。该项目推进了由手术和制造的特定应用指导的多边操作的基本科学。Boader的影响：多边操作系统有可能提高医疗保健，提高美国制造业中的竞争力和产品质量，并为房屋中新的服务机器人应用打开大门。该项目将由工业和医学实践的专家顾问委员会指导。项目结果将通过年度会议研讨会，开源软件工具（包括机器人操作系统（ROS））以及研究人员的研究和课程网页集成到常见的机器人软件环境中，以鼓励我们将我们的方法集成到许多机构的研究项目和课程中。外展计划，公共实验室旅行和少数民族学生的指导将扩大代表性不足的工程团体的参与。这些活动将鼓励参加STEM活动，并为学生和博士后研究人员提供指导经验。