Workshop: Locomotion and Manipulation: Why the Great Divide?

研讨会：运动与操纵：为什么会出现巨大的鸿沟？

• 批准号: 1451327
• 负责人: Koushil Sreenath
• 金额: $ 5万
• 依托单位: Carnegie-Mellon 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: 2014-09-01 至 2015-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1451327&HistoricalAwards=false
• 关键词: Workshop; Locomotion; Manipulation; Why; Great

Getting robots to perform useful work in uncertain environments is still a grand challenge in robotics. One of the biggest possible impacts of this ability would be to enable the development of new co-robots that are nurses, handymen, and butlers for the elderly and infirm. Other important applications would be co-robots that can help find and evacuate the injured during first responses to disasters, improvements in design and control of active prosthetic devices and exoskeletons, and locomotion and manipulation behaviors for collaborative human-robot work. This proposal requests funds to organize a workshop focused on developing new planning and control methods to extend robots? abilities to transport themselves to work sites and then to perform useful physical work. A two-day workshop is proposed to encourage collaboration between the research communities of robotic manipulation and locomotion, both in academia and industry. The workshop is motivated by the fact that, although the underlying physical principles driving locomotion and manipulation are similar, the techniques developed by the two communities are not. The workshop will analyze the reasons for these differences and explore ideas to bring them closer, with the goal of cross-pollinating advances in both fields. In addition, the workshop will consider the impact of industrial efforts to address these problems.

让机器人在不确定的环境中执行有用的工作仍然是机器人技术中的一个巨大挑战。这种能力可能产生的最大影响之一是能够开发新的协作机器人，例如护士、勤杂工以及老人和体弱者的管家。 其他重要的应用包括协作机器人，它可以在灾难发生的第一反应中帮助寻找和疏散伤员，改进主动假肢装置和外骨骼的设计和控制，以及人机协作工作的运动和操纵行为。该提案要求资金组织一个研讨会，重点开发新的规划和控制方法来扩展机器人？能够将自己运送到工作地点，然后进行有用的体力劳动。 建议举办为期两天的研讨会，以鼓励学术界和工业界的机器人操纵和运动研究界之间的合作。该研讨会的动机是，尽管驱动运动和操纵的基本物理原理相似，但两个社区开发的技术却不相同。研讨会将分析这些差异的原因，并探讨使它们更接近的想法，目标是实现两个领域的异花授粉。此外，研讨会还将考虑工业界努力解决这些问题的影响。