IRES: US-Korea Collaborative Software- and Hardware-Design of Humanoids for Real-World tasks in Human-Centered Environments

IRES：美韩协作软件和硬件设计人形机器人，用于以人为中心的环境中的实际任务

• 批准号: 1261170
• 负责人: Paul Oh
• 金额: $ 25万
• 依托单位: Drexel University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-09-01 至 2014-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1261170&HistoricalAwards=false
• 关键词: IRES; US; Korea; Collaborative; Software

The Fukushima nuclear disaster was an awakening moment for robotics. Despite years of research and a wide range of robots, performing tasks like turning valves and attaching hoses, could not be done. If such tasks were executed in the earliest stages of the accident, much of the aftermath could have been averted. The fact that radiation levels were too high, forced rescue workers to wait and the disaster grew. Power plants and industrial sites are human-centered environments that are often characterized by doors, hatches, stairs and ladders that need to be entered or climbed. Additionally such environments feature valves, hoses and switches that need to be manipulated and connected. Robots however are not mature enough to efficiently function and effectively operate in such environments. This 3-year IRES project partners American and Korean roboticists who respectively have expertise in the software and hardware design of humanoids. The objective is to collaboratively design humanoids to operate in human-centered environments. This is both important and urgent, addressing both national and international needs. Such service and mitigation by robots demands the coupled development of software and hardware where the robot?s form must follow its function. The project?s intellectual merit stems from the formulation of a unified algorithmic framework. Current humanoids have the form to mimic a person?s motions but lack the software to function and operate in human-centered environments. Through the IRES, at least 12 American students will each spend 6-months in Korea working at the KAIST Hubo Lab. This partnership enables the American software developers to drive Korean hardware efforts and together design future versions of KAIST?s world-class humanoid. The net effect will be a robot that can efficiently function and effectively operate in human-centered environments like power plants and industry sites for collaborative tasks, humanitarian assistance and disaster response.The project broadly impacts research, education, business development and K-12 curricula: humanoid design will advance research in legged locomotion, whole-body motion planning, perception and dexterous manipulation; the 6-month experience at KAIST educates US students in international research collaboration; the involvement of Korean robotics companies helps US students develop products; and the after-school programs with a Philadelphia High School will yield robotics-based teaching modules. The net effect is a set of broader impacts which are enabled by the IRES and sustainable well after the project completes.

福岛核灾难是机器人技术的觉醒时刻。 尽管经过多年的研究和各种各样的机器人，但仍无法完成诸如转动阀门和固定软管等任务。 如果在事故的最早阶段执行此类任务，那么可能会避免大部分后果。 辐射水平太高的事实迫使救援人员等待灾难。 发电厂和工业地点是以人为本的环境，通常以门，舱口，楼梯和梯子为特征，需要进入或攀登。 此外，此类环境具有需要操纵和连接的阀门，软管和开关。 但是，机器人不足以有效地发挥作用并在这种环境中有效运行。 这位为期3年的IRES项目合作伙伴美国和韩国机器人分别在类人型软件和硬件设计方面具有专业知识。 目的是协作设计类人动物以在以人为中心的环境中运行。 这既重要又紧急，可以满足国家和国际需求。 机器人的这种服务和缓解要求，需要在机器人表单必须遵循其功能的位置进行软件和硬件的开发。 该项目的智力优点源于统一算法框架的制定。 当前的类人动物具有模仿一个人的动作的形式，但缺乏在以人为本的环境中运作和运作的软件。 通过IRES，至少有12名美国学生将分别在韩国工作6个月，在Kaist Hubo实验室工作。 这种合作伙伴关系使美国软件开发人员能够推动韩国硬件工作，并共同设计Kaist的世界一流类人生物的未来版本。 净效应将是一个机器人，可以在以人道任务，人道主义援助和灾难响应（人道主义援助和灾难响应）等以人类为中心的环境中有效运作并有效运行。该项目广泛影响研究，教育，业务发展和K-12课程：类人动物设计将推进针对腿部运动，全身运动计划，感知和灵巧的操纵的研究； KAIST的为期6个月的经验使我们的学生在国际研究合作中进行了教育；韩国机器人公司的参与可以帮助我们的学生开发产品；费城高中的课后课程将产生基于机器人技术的教学模块。 净效应是一组更广泛的影响，在项目完成后，IRES启用了IRES和可持续性。