CPS: Synergy: Collaborative Research: High-Level Perception and Control for Autonomous Reconfigurable Modular Robots

CPS：协同：协作研究：自主可重构模块化机器人的高级感知和控制

• 批准号: 1329620
• 负责人: Mark Yim
• 金额: $ 40万
• 依托单位: University of Pennsylvania
• 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 2016-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1329620&HistoricalAwards=false
• 关键词: CPS; Synergy; Collaborative; Research; Level

The goal of the project is the development of the theory, hardware and computational infrastructure that will enable automatically transforming user-defined, high-level tasks such as inspection of hazardous environments and object retrieval, into provably-correct control for modular robots. Modular robots are composed of simple individual modules; while a single module has limited capabilities, connecting multiple modules in different configurations allows the system to perform complex actions such as climbing, manipulating objects, traveling in unstructured environments and self-reconfiguring (breaking into multiple independent robots and reassembling into larger structures). The project includes (i) defining and populating a large library of perception and actuation building blocks both manually through educational activities and automatically through novel algorithms, (ii) creating automated tools to assign values to probabilistic metrics associated with the performance of library components, (iii) developing a grammar and automated tools for control synthesis that sequence different components of the library to accomplish higher level tasks, if possible, or provide feedback to the user if the task cannot be accomplished and (iv) designing and building a novel modular robot platform capable of rapid and robust self-reconfiguration. This research will have several outcomes. First, it will lay the foundations for making modular robots easily controlled by anyone. This will enrich the robotic industry with new types of robots with unique capabilities. Second, the research will create novel algorithms that tightly combine perception, control and hardware capabilities. Finally, this project will create an open-source infrastructure that will allow the public to contribute basic controllers to the library thus promoting general research and social interest in robotics and engineering.

该项目的目的是开发理论，硬件和计算基础架构，该理论将自动转换用户定义的高级任务，例如检查危险环境和对象检索，以证明是对模块化机器人的校正控制。模块化机器人由简单的单个模块组成；虽然单个模块具有有限的功能，但是在不同配置中连接多个模块可以使系统可以执行复杂的动作，例如攀爬，操纵对象，在非结构化环境中行驶和自我调整（分解多个独立的机器人，并重新组装成较大的结构）。 该项目包括（i）定义和填充大量的感知和驱动构件，既可以通过教育活动手动，并通过新颖的算法自动自动，（ii）创建自动化工具，以分配值，以分配值，以与库的性能相关的概率指标，（iii）为较高的库提供了较高的库或自动化的组成部分，以实现较高的构图，如果该级别的组成部分可以完成序列的构图，则该序列构成了序列的构图，该序列构成了序列的构造，该序列是构成序列的构造，用户如果无法完成任务，并且（iv）设计和构建了一个具有快速和强大自我配置的新型模块化机器人平台。这项研究将有几个结果。首先，它将为使任何人轻松控制模块化机器人奠定基础。这将通过具有独特功能的新型机器人来丰富机器人行业。其次，研究将创建新颖的算法，结合感知，控制和硬件功能。最后，该项目将创建一个开源基础架构，使公众能够向图书馆贡献基本控制器，从而促进机器人技术和工程学的一般研究和社会兴趣。