Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control
具有触觉反馈的协作辅助机器人系统:传感与控制
基本信息
- 批准号:RGPIN-2016-04952
- 负责人:
- 金额:$ 2.4万
- 依托单位:
- 依托单位国家:加拿大
- 项目类别:Discovery Grants Program - Individual
- 财政年份:2020
- 资助国家:加拿大
- 起止时间:2020-01-01 至 2021-12-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
With the need to accomplish more complicated work by robots, increasing attention has been paid to cooperative assistive robotics systems and technologies over the past decades. The proposed work on sensing, control and optimization of cooperative assistive robotic systems addresses one of the recognized major challenges and opportunities for control researchers. The results of the research will lay the ground work for the development of cooperative robotic systems with potential applications in industrial manufacturing, military applications, environmental monitoring, transportation, space exploration, medical applications and health care services. The results of the proposed research will help the industry to offer operating convenience and increase economic efficiency, as well as offer benefit to people required medical interventions and physical assistance. Cooperative robotic systems have advantages over a single robot, such as increased dexterity, improved handling capability, increased loading capacity and enhanced robustness due to redundancy. Much existing work lacks a good framework for coordination strategies due to the complexity of the whole system. The integration of two key components, sensing and control, is not optimized and needs co-design for specific applications. The issues related to unknown environment model, dynamics, coordination mechanism to dynamic environment, imperfect sensors, communication constraints, and performance evaluation index have not been well addressed.
The short term objectives of the proposed research are: to develop assistive robotic platforms with haptic feedback for manufacturing, medical applications and rehabilitation respectively, as well as sensing based motion control in the existence of limited measurement, uncertainties and disturbances; to propose numerous cooperative control strategies for multiple assistive robots for cooperative tasks in which a single robot is not enough to accomplish dexterous tasks, as well as to define performance indices in evaluating how to reach cooperative agreement, to optimize the useful information for feedback from multiple sources subject to communication constraints, and to address the robustness and synthesis issues among the multiple robotic systems.
Specifically, the following issues are to be investigated: 1) Assistive robotic systems with haptic feedback - sensing and motion control; 2) Cooperative control of multi-assistive robotic systems with haptic feedback. Specifically, three applications will be investigated: i) Cooperative mobile manipulators; ii) Cooperative surgical robotic devices for tasks in confined workspace with haptic feedback; iii) Cooperative wearable exoskeleton robotic devices for rehabilitation.
由于需要通过机器人完成更复杂的工作,因此在过去几十年中,人们对合作辅助机器人系统和技术的关注越来越多。关于合作辅助机器人系统的感应,控制和优化的拟议工作,涉及公认的控制研究人员的主要挑战和机会。该研究的结果将为开发合作机器人系统的开发奠定基础,并在工业制造,军事应用,环境监测,运输,太空勘探,医疗应用和医疗保健服务中使用潜在的应用。拟议研究的结果将有助于该行业提供便利和提高经济效率,并为需要医疗干预和身体援助的人们提供好处。合作机器人系统比单个机器人具有优势,例如提高灵巧性,提高处理能力,增加的负载能力以及由于冗余而增强的鲁棒性。由于整个系统的复杂性,许多现有的工作缺乏一个很好的协调策略框架。两个关键组件的集成感测和控制未经优化,并且需要为特定应用程序共同设计。与未知环境模型,动态,协调机制相关的问题,动态环境,不完美的传感器,通信约束和绩效评估指数尚未得到很好的解决。
拟议的研究的短期目标是:为制造,医疗应用和康复的触觉反馈开发辅助机器人平台,以及在存在有限的测量,不确定性和干扰的情况下基于感应的运动控制;为多个辅助机器人提出许多合作控制策略,用于合作任务,其中单个机器人不足以完成灵活的任务,并在评估如何达到合作协议时定义绩效指数,以优化有用的信息,以从多个多个多个反馈中进行反馈受到通信限制的来源,并解决多个机器人系统之间的鲁棒性和综合问题。
具体而言,要研究以下问题:1)具有触觉反馈 - 感应和运动控制的辅助机器人系统; 2)具有触觉反馈的多辅助机器人系统的合作控制。具体来说,将研究三个申请:i)合作移动操纵器; ii)与触觉反馈的密闭工作区中的任务合作手术机器人设备; iii)合作可穿戴外骨骼机器人装置,用于康复。
项目成果
期刊论文数量(0)
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科研奖励数量(0)
会议论文数量(0)
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Pan, YaJun其他文献
Pan, YaJun的其他文献
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{{ truncateString('Pan, YaJun', 18)}}的其他基金
Robust, Cooperative and Intelligent Dexterous Manipulation in Complex Environments
复杂环境下的鲁棒、协作、智能灵巧操控
- 批准号:
RGPIN-2021-02406 - 财政年份:2022
- 资助金额:
$ 2.4万 - 项目类别:
Discovery Grants Program - Individual
Robust, Cooperative and Intelligent Dexterous Manipulation in Complex Environments
复杂环境下的鲁棒、协作、智能灵巧操控
- 批准号:
RGPIN-2021-02406 - 财政年份:2021
- 资助金额:
$ 2.4万 - 项目类别:
Discovery Grants Program - Individual
Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control
具有触觉反馈的协作辅助机器人系统:传感和控制
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RGPIN-2016-04952 - 财政年份:2019
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Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control
具有触觉反馈的协作辅助机器人系统:传感和控制
- 批准号:
RGPIN-2016-04952 - 财政年份:2018
- 资助金额:
$ 2.4万 - 项目类别:
Discovery Grants Program - Individual
Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control
具有触觉反馈的协作辅助机器人系统:传感和控制
- 批准号:
RGPIN-2016-04952 - 财政年份:2017
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Cooperative Assistive Robotic Systems with Haptic Feedback: Sensing and Control
具有触觉反馈的协作辅助机器人系统:传感和控制
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RGPIN-2016-04952 - 财政年份:2016
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$ 2.4万 - 项目类别:
Discovery Grants Program - Individual
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$ 2.4万 - 项目类别:
Discovery Grants Program - Individual
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- 批准号:
327193-2011 - 财政年份:2014
- 资助金额:
$ 2.4万 - 项目类别:
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