NRI: Large: Collaborative Research: Human-robot Coordinated Manipulation and Transportation of Large Objects

NRI：大型：协作研究：大型物体的人机协调操纵和运输

• 批准号: 1328268
• 负责人: Paul Oh
• 金额: $ 30万
• 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: 2013-10-01 至 2014-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1328268&HistoricalAwards=false
• 关键词: NRI; Large; Collaborative; Research; Human

Motivated by the complementary abilities of humans and humanoids, the objective of this proposal is to develop the science and technology necessary for realizing human-robot cooperative object manipulation and transportation. The key concepts that this research seeks to promote are adaptability to human activity under minimal communication, and robustness to variability and uncertainty in the environment, achieved through a layered representation and deliberate processing of the available information. Moreover, this project aims to make maximum use of a minimal set of sensors to plan and control the actions of the robot, while ensuring safe and efficient cooperative transportation. The embodiment of this research is a humanoid co-worker that bears most of the load, when helping a person to carry an object, without requiring excessive communication, or prior training on the part of the human.By introducing concrete methods for human-robot physical collaboration in semi-structured environments, this project enables a unique synergy between robots and humans that has the potential to increase productivity, and reduce accidents and injuries. In doing so, it also promotes the advancement of new practical applications of robots in construction, manufacturing, logistics, and home services. By developing open-source, portable algorithms for humanoid robots and mobile manipulators, this effort results in cost and time savings for researchers, developers, educators, and end-users in robotics. Finally, through an aggressive educational and community outreach plan, and by actively engaging K-12 students in an exciting RoboTech Fellows program, this project seeks to increase diversity and attract underrepresented groups to STEM.

受人类和类人机器人能力互补的推动，该提案的目标是开发实现人机协作物体操纵和运输所需的科学和技术。这项研究力求推广的关键概念是在最少的沟通下对人类活动的适应性，以及对环境变化和不确定性的鲁棒性，这是通过对可用信息的分层表示和深思熟虑的处理来实现的。此外，该项目旨在最大限度地利用最少的传感器来规划和控制机器人的动作，同时确保安全高效的协作运输。 本研究的具体体现是一个人形同事，在帮助人搬运物体时承担大部分负载，不需要人类进行过多的沟通或事先训练。该项目通过半结构化环境中的物理协作，实现了机器人和人类之间独特的协同作用，有可能提高生产力，减少事故和伤害。此举也促进了机器人在建筑、制造、物流、家居服务等领域新的实际应用的进步。通过为人形机器人和移动操纵器开发开源、便携式算法，这项工作为机器人技术的研究人员、开发人员、教育工作者和最终用户节省了成本和时间。最后，通过积极的教育和社区外展计划，并积极让 K-12 学生参与激动人心的 RoboTech 研究员计划，该项目旨在增加多样性并吸引代表性不足的群体加入 STEM。