NRI: INT: Dexterous Compliant Manipulation Using Delta Robot Arrays

NRI：INT：使用 Delta 机器人阵列进行灵巧合规操纵

基本信息

批准号：
2024794
负责人：
Fatma Zeynep Temel
金额：
$ 149.85万
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：
2020
资助国家：
美国
起止时间：
2020-09-01 至 2024-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2024794&HistoricalAwards=false
关键词：
NRI INT Dexterous Compliant Manipulation

项目摘要

This National Robotics Initiative project will promote the progress of science and advance the national prosperity and welfare by creating novel dexterous robotic manipulators consisting of arrays of compliant delta robots. Many collaborative robot (co-robot) applications require safe, dexterous, and delicate manipulation around people. For example, in the physically assistive task of helping people take medication, a robot must be able to open a pill bottle, grasp a small pill, and gently feed that pill to a human. All of these tasks require sophisticated manipulation abilities, which are naturally performed by humans using their fingers and fingertips, but most current robot manipulators are lacking. The human hand is not the only form factor capable of achieving dexterous and delicate manipulation. This grant focuses on building dexterous manipulators consisting of arrays of small compliant robots that work in sync to achieve sophisticated manipulation skills. Accessible fabrication techniques like 3D printing lower barriers to access for robotic technologies, which makes these robots great candidates not only as assistive co-robots in healthcare and other applications but also as educational tools from K-12 to graduate school.This project covers the full pipeline of development for a novel co-robot manipulation system, contributing: (1) Hardware design and fabrication of individual delta robots, investigating novel combinations of geometry, materials, actuation, and sensorization using modular and easily replicable components; (2) Control models that can actively calibrate themselves and handle real-time variations caused by fabrication imperfections or wear and tear; (3) Manipulation strategies that coordinate a distributed array of delta robots into a single effective manipulator, capable of sophisticated manipulations such as in-hand object rotation; and (4) Design of human-robot interactions that address performance, safety, and human perception in close-proximity physically assistive tasks. This transformative research expands the design space of parallel manipulators, enabling them to be used as safe and compliant robotic fingers. The delta robot arrays are customizable for a specific task and scale well through their modular design and unified framework for coordination. Accessible manufacturing methods like 3D printing and laser machining, along with the robots' self-calibrating control models, lower barriers to entry for widespread use. Last but not least, these safe, dexterous, and compliant robotic fingers can have an impact on society by enabling the development of manipulators that assist humans with important physical activities such as taking medication.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

这项国家机器人计划计划将通过创建新型灵巧的机器人操纵器来促进科学的进步，并促进国家繁荣和福利，这些机器人机器人机器人由一系列合规的Delta机器人组成。许多协作机器人（联合机器人）应用程序需要对人进行安全，灵活和微妙的操纵。例如，在帮助人们服用药物的身体辅助任务中，机器人必须能够打开药瓶，抓住小药丸，然后轻轻地将该药给人类。所有这些任务都需要复杂的操纵能力，这是人类自然用手指和指尖执行的，但是大多数当前的机器人操纵器都缺乏。人的手并不是唯一能够实现灵巧而微妙的操纵的外形。该赠款专注于构建灵巧的操纵器，这些操纵器由一系列符合小型机器人组成，这些机器人可以同步，以实现复杂的操纵技巧。可访问的制造技术，例如3D打印较低的机器人技术障碍，这使这些机器人不仅使候选人成为医疗保健和其他应用程序的辅助共同机器人，而且还使其作为从K-12到研究生院的教育工具。该项目涵盖了全新的开发系统的开发渠道，用于新型的共同机器人的销售机器人，贡献了个人销售和制造：1（1）构造的设计：1）（1）构造，制造出来，制造出来，制造出来，制造出来，制造出来，制造出来，创造出来的作品。使用模块化和易于复制的组件的几何形状，材料，驱动和传感化；（2）可以积极校准自己并处理由制造缺陷或磨损引起的实时变化的控制模型；（3）操纵策略，将分布式的三角洲机器人阵列协调为单个有效的操纵器，能够进行复杂的操作，例如手工旋转；（4）在近距离辅助任务中解决绩效，安全性和人类感知的人类机器人相互作用的设计。这项变革性的研究扩大了并行操纵器的设计空间，使它们可以用作安全且合规的机器人手指。 Delta机器人阵列是针对特定任务的定制，并通过其模块化设计和协调统一框架来很好地扩展。可访问的制造方法，例如3D打印和激光加工，以及机器人的自校准控制模型，较低的进入障碍，以供广泛使用。最后但并非最不重要的一点是，这些安全，灵巧和符合的机器人手指可以通过启用操纵者的发展来影响社会，这些操作者能够帮助人类进行重要的体育锻炼，例如服用药物。该奖项反映了NSF的法定任务，并认为通过使用该基金会的智力和更广泛的影响来评估Criteria的评估，并被视为值得通过评估的支持。

项目成果

期刊论文数量（6）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Characterization of Compliant Parallelogram Links for 3D-Printed Delta Manipulators

DOI：
10.1007/978-3-030-71151-1_7
发表时间：
2020
期刊：
影响因子：
0
作者：
Pragna Mannam;Oliver Kroemer;F. Z. Temel
通讯作者：
Pragna Mannam;Oliver Kroemer;F. Z. Temel

Towards Robust Planar Translations using Delta-manipulator Arrays

使用 Delta 操纵器阵列实现稳健的平面平移

DOI：
10.1109/icra48506.2021.9561003
发表时间：
2021
期刊：
International Conference on Robotics and Automation
影响因子：
0
作者：
Thompson, Skye;Mannam, Pragna;Temel, Zeynep;Kroemer, Oliver
通讯作者：
Kroemer, Oliver

Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D

用于 3D 准动态灵巧操作的接触模式引导运动规划

DOI：
10.1109/icra46639.2022.9811872
发表时间：
2022
期刊：
2022 International Conference on Robotics and Automation (ICRA
影响因子：
0
作者：
Cheng, Xianyi;Huang, Eric;Hou, Yifan;Mason, Matthew T.
通讯作者：
Mason, Matthew T.

DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education

DeltaZ：一款用于研究和教育的无障碍兼容 Delta 机器人机械手

DOI：
10.1109/iros47612.2022.9981257
发表时间：
2022
期刊：
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
影响因子：
0
作者：
Patil, Sarvesh;Alvares, Samuel C.;Mannam, Pragna;Kroemer, Oliver;Temel, F. Zeynep
通讯作者：
Temel, F. Zeynep

Linear Delta Arrays for Compliant Dexterous Distributed Manipulation

线性 Delta 阵列实现灵活的分布式操作

DOI：
10.1109/icra48891.2023.10160578
发表时间：
2023
期刊：
2023 International Conference on Robotics and Automation (ICRA
影响因子：
0
作者：
Patil, Sarvesh;Tao, Tony;Hellebrekers, Tess;Kroemer, Oliver;Temel, F. Zeynep
通讯作者：
Temel, F. Zeynep