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.

该提案的目的是由人类和人形生物的互补能力进行，是要开发实现人类机器人合作对象操纵和运输所必需的科学和技术。这项研究试图促进的关键概念是在最小的沟通中对人类活动的适应性，以及对环境中可变性和不确定性的稳健性，通过分层表示和故意处理可用信息。此外，该项目旨在最大程度地利用一组最小的传感器来计划和控制机器人的动作，同时确保安全有效的合作运输。 这项研究的实施例是一位类人的同事，在帮助一个人携带物体，不需要过度沟通或事先培训人类时承担大部分负荷。通过引入半结构环境中的人类机器人的身体协作方法，该项目可以在机器人和人类之间产生独特的协同性，以使其具有潜在的效率，并使其具有潜在的效率和效率。在此过程中，它还促进了机器人在建筑，制造，物流和家庭服务中的新实用应用的进步。通过开发针对人形机器人和移动操纵器的开源，便携式算法，这项工作可以为研究人员，开发人员，教育工作者和机器人技术中的最终用户节省成本和时间。最后，通过一项积极的教育和社区外展计划，并通过积极吸引K-12学生参加激动人心的机器人研究员计划，该项目旨在提高多样性并吸引代表性不足的团体来阻止。