NRI: Dexterous Manipulation Attained Using Task-Specific Admittance Realized with Variable Impedance Actuation

NRI：使用可变阻抗驱动实现的特定任务导纳实现灵巧操作

基本信息

批准号：
1427329
负责人：
Joseph Schimmels
金额：
$ 75万
依托单位：
Marquette University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2014
资助国家：
美国
起止时间：
2014-08-01 至 2018-07-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1427329&HistoricalAwards=false
关键词：
NRI Dexterous Manipulation Attained Using

项目摘要

This project establishes a sound engineering framework for designing next-generation robots and intelligent robotic devices that can be used to perform difficult manipulation tasks quickly and reliably. The framework is useful both for traditional robots already installed in manufacturing plants and future "soft robots" that will make human-robot collaboration safe. The focus is on constrained manipulation problems such as assembly and repair tasks, many of which are dull, difficult, and dangerous. The results will allow robots to be more effectively used in a wide range of domains such as service, healthcare, space exploration, and manufacturing.The project yields a means to simultaneously control both a robot's position and its elastic behavior using kinematically redundant arms driven by actuators with controllable stiffness. It will be demonstrated that proper design of the robot path plan and admittance plan will ensure that constraints imposed by manipulation tasks are accommodated and high-level task objectives are reliably satisfied despite uncertainies (e.g., the door is opened, the assembly is completed properly). The four planned major outcomes of this research program are: 1) general procedures for selecting the optimal manipulation plan (identifying the optimal motion and admittance plans) using numerical procedures to ensure that the specified manipulation task progresses quickly, appropriately, and reliably despite uncertainties, 2) procedures for realizing a specified admittance plan involving the use of a redundant serial manipulator with variable impedance actuation (a series elastic actuator with controllable stiffness) at each joint, 3) a demonstration of improved robot dexterity in constrained manipulation tasks using redundant serial manipulators with variable impedance actuation to verify the manipulation plan selection methods and validate the overall manipulation approach, and 4) a library of constrained generic task categories with associated optimal manipulation plans.

该项目建立了一个合理的工程框架，用于设计下一代机器人和智能机器人设备，可用于快速可靠地执行困难的操纵任务。该框架对于已经在制造厂中安装的传统机器人和未来的“软机器人”都很有用，这将使人类机器人协作安全。重点是限制的操纵问题，例如组装和维修任务，其中许多是乏味，困难和危险的。结果将使机器人更有效地用于多种范围，例如服务，医疗保健，太空探索和制造。该项目产生了一种同时控制机器人位置及其弹性行为的手段，并使用运动型具有可控刚度的动力学驱动器驱动。可以证明，机器人路径计划的正确设计和入学计划将确保容纳操作任务所施加的约束，尽管不确定，但高级任务目标仍可以可靠地满足（例如，打开门，组件已正确完成）。 The four planned major outcomes of this research program are: 1) general procedures for selecting the optimal manipulation plan (identifying the optimal motion and admittance plans) using numerical procedures to ensure that the specified manipulation task progresses quickly, appropriately, and reliably despite uncertainties, 2) procedures for realizing a specified admittance plan involving the use of a redundant serial manipulator with variable impedance actuation (a series elastic每个关节处具有可控刚度的执行器，3）使用冗余的连续操纵器使用具有可变阻抗驱动的可变性的串行操纵器中改善机器人灵巧性的演示，以验证操纵计划选择方法并验证整体操纵方法，4）与相关的最佳最佳操作计划的库库。