CAREER: Remote Control of Humanoid Robot Locomotion using Human Whole-body Movement and Mutual Adaptation

职业：利用人体全身运动和相互适应来远程控制人形机器人运动

基本信息

批准号：
2043339
负责人：
Elizabeth Hsiao-Wecksler
金额：
$ 73.69万
依托单位：
University of Illinois at Urbana-Champaign
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2021
资助国家：
美国
起止时间：
2021-04-01 至 2026-03-31
项目状态：
未结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2043339&HistoricalAwards=false
关键词：
CAREER Remote Control Humanoid Robot

项目摘要

Agile teleoperation of legged robots through unstructured environments could enhance the capabilities of emergency responders such as firefighters. Consider the demanding physical task of manipulating an active hose while walking over uneven terrain. Delegating the task to a robot could be performed via direct teleoperation if the operator were to directly control the robot's entire body while experiencing the machine’s sense of balance and the interaction forces with the hose. Due to lags in perception-action coupling, the task can only be performed reliably if the robot can predict and adapt to human motion intent. Teleoperation of coordinated locomotion and manipulation therefore requires bilateral motor and mind synergy between human and robot. The goal of this Faculty Early Career Development Program (CAREER) project is to advance a fundamental understanding of teleoperated locomotion of a humanoid robot firefighter using whole-body force feedback and eye gaze intent detection. The project will advance the NSF mission to promote the progress of science and to advance national health, prosperity, and welfare by advancing a fundamental understanding of the complex dynamics that arise through the bidirectional physical interaction between human and robot agents during teleoperated locomotion. Activities planned to enhance the broader impacts of this research include efforts to enhance engineering education via active-learning activities, establish interactions with the general public, students, and professionals through outreach activities; and train the next generation of scientist leaders. This CAREER project advances a fundamental understanding of the novel dynamics that arise during bilateral whole-body teleoperation of the locomotion of a humanoid robot traversing unstructured environments. Direct human-in-the-loop control of locomotion via teleoperation is one way to endow robotic assistants with human-level motor skills for physical interaction. In this project, the human teleoperator uses their body to directly command the robot's locomotor while receiving force feedback through a novel torso-mounted interface. In contrast to conventional haptic interfaces that directly render to the operator the forces applied to the robot, the project's first research aim is to create a general mapping that renders also kinematic effect of perturbations. The second aim is to understand human motor adaptation to robot locomotion dynamics. The third aim is to achieve navigation on uneven terrain via a shared-autonomy framework in which the robot adapts to human locomotion intent by modifying its foot placement on the fly. The efficacy of the approach is evaluated through human subjects experiment. This work makes fundamental contributions to human whole-body haptics, biomechanics of locomotion, and control of legged robots.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.

通过非结构化环境对腿部机器人进行敏捷的远程操作可以增强应急人员（例如消防员）的功能。考虑在不平坦的地形上行走时操纵主动软管的苛刻物理任务。如果操作员要直接控制机器人的整个身体，则可以通过直接远程操作执行任务委派给机器人，同时体验机器的平衡感以及与软管的互动力。由于感知效果耦合中的滞后，只有在机器人可以预测并适应人类运动意图的情况下，才能可靠地执行任务。因此，协调的运动和操纵的远程运行需要人与机器人之间的双侧运动和思维协同作用。这个教师早期职业发展计划（职业）项目的目的是提高对使用全身力量反馈和眼目光意图检测的人形机器人消防员对远程手术的基本了解。该项目将通过促进对通过人类和机器人在远程手术的机器人之间的双向物理互动来促进对复杂动态的基本理解来促进NSF的使命，以促进科学进步，并促进国家健康，繁荣和福利。计划增强这项研究的广泛影响的活动包括通过主动学习活动来增强工程教育，通过外展活动与公众，学生和专业人员进行建立互动；并培训下一代科学家领导者。这个职业项目促进了对双边全身远程操作过程中的新型动态的基本理解，该动态遍历了穿越非结构化环境的类人机器人机器人的运动。通过远距离运行对运动的直接控制是一种赋予机器人助手具有人力水平运动技能的方法。在这个项目中，人类的远程操作员利用自己的身体直接指挥机器人的运动，同时通过新颖的躯干安装界面接收力反馈。与直接向操作员呈现机器人的力的传统触觉界面相反，该项目的第一个研究目的是创建一个一般映射，该映射也使扰动的运动效应。第二个目的是了解人类运动对机器人运动动力学的适应。第三个目的是通过共享自治框架在不平坦的地形上实现导航，在该框架中，机器人可以通过即时修改其脚部位置来适应人类运动的意图。通过人类受试者实验评估该方法的效率。这项工作为人类全身触觉，运动生物力学和对腿部机器人的控制做出了基本贡献。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的知识分子和更广泛影响的评估评估的评估来支持的。

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）

HOPPY: An Open-source Kit for Education with Dynamic Legged Robots

HOPPY：用于动态腿式机器人教育的开源套件

DOI：
发表时间：
2021
期刊：
IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
0
作者：
Ramos, Joao;Ding, Yanran;Sim, Young-woo;Murphy, Kevin;Block, Daniel
通讯作者：
Block, Daniel

Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation

全身动态远程运动：人类步行参考生成的逐步动力学方法

DOI：
10.1109/humanoids57100.2023.10375168
发表时间：
2023
期刊：
IEEE-RAS 22nd International Conference on Humanoid Robots
影响因子：
0
作者：
Colin, Guillermo;Byrnes, Joseph;Sim, Youngwoo;Wensing, Patrick M.;Ramos, Joao
通讯作者：
Ramos, Joao

Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots

Tello Leg：动态人形机器人的设计原理和指标研究