CRII: RI: Dynamic Multi-Robot Coordination and Cooperation Using Dynamically Stable Mobile Robots

CRII：RI：使用动态稳定移动机器人的动态多机器人协调与合作

• 批准号: 1464337
• 负责人: Koushil Sreenath
• 金额: $ 16.85万
• 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: 2015
• 资助国家: 美国
• 起止时间: 2015-06-01 至 2017-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1464337&HistoricalAwards=false
• 关键词: CRII; RI; Dynamic; Multi; Robot

The goal of this project is to understand the science of dynamic collaborative load manipulation using dynamically stable mobile robots (ballbots). The research conducted under this NSF grant is enhancing the ability of multiple ballbots to cooperatively perform dynamic manipulation and transportation of heavy loads through spatially constrained, unstructured environments, while providing critical safety through redundancy. This project will enable automation of strenuous load transportation/manipulation tasks, having the potential to reduce accidents and repetitive stress injuries.The specific research aims are (a) dynamically feasible motion plans that transition hybrid dynamical modes, (b) feedback control for hybrid dynamic manipulation. The transformative nature of this research stems from its ability to generate theoretical advances in feedback control and dynamically feasible motion planning on multiple levels.

该项目的目标是了解使用动态稳定移动机器人（ballbots）进行动态协作负载操纵的科学。在国家科学基金会资助下进行的研究正在增强多个球机器人在空间受限、非结构化环境中协作执行动态操纵和运输重物的能力，同时通过冗余提供关键的安全性。该项目将实现繁重负载运输/操纵任务的自动化，有可能减少事故和重复性应力损伤。具体研究目标是（a）过渡混合动力模式的动态可行运动计划，（b）混合动态的反馈控制操纵。这项研究的变革性本质源于其在反馈控制和多个层面上动态可行的运动规划方面产生理论进步的能力。