Robonaut 2 and you: Specifying and executing complex operations
Robonaut 2 and you: Specifying and executing complex operations
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Robonaut 2 和你：指定和执行复杂的操作
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
L. Kavraki
中科院分区：
文献类型：
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作者：
W. Baker;Zachary K. Kingston;Mark Moll;Julia M. Badger;L. Kavraki
由于在太空中训练有素的人类操作员的费用很高，机组人员的时间是宝贵的资源。高效的看护机器人可以减轻频繁的车辆和生命支持维护任务所需的体力劳动负荷，从而为宇航员腾出时间来实现科学任务目标。由于其形状，人形机器人可以与人类机器人一起流动地存在，但它们是复杂且高维的平台。本文描述了一种可供人类操作员操纵 Robonaut 2 (R2) 的系统，这是 NASA 为研究协作机器人应用而开发的灵巧人形机器人。该系统包括用于描述操作的约束规范，以及以交互速度解决 R2 上的约束问题的支持规划框架。本文是参考 R2 执行的操作的说明性典型示例而编写的，以强调 R2 必须面对的问题所固有的挑战。最后，通过使用模拟微重力环境中物理机器人上的指导示例进行案例研究来验证界面和规划器。这项工作揭示了使用人形看护机器人的复杂性，并提出了广泛适用的解决方案。
Crew time is a precious resource due to the expense of trained human operators in space. Efficient caretaker robots could lessen the manual labor load required by frequent vehicular and life support maintenance tasks, freeing astronaut time for scientific mission objectives. Humanoid robots can fluidly exist alongside human counterparts due to their form, but they are complex and high-dimensional platforms. This paper describes a system that human operators can use to maneuver Robonaut 2 (R2), a dexterous humanoid robot developed by NASA to research co-robotic applications. The system includes a specification of constraints used to describe operations, and the supporting planning framework that solves constrained problems on R2 at interactive speeds. The paper is developed in reference to an illustrative, typical example of an operation R2 performs to highlight the challenges inherent to the problems R2 must face. Finally, the interface and planner is validated through a case-study using the guiding example on the physical robot in a simulated microgravity environment. This work reveals the complexity of employing humanoid caretaker robots and suggest solutions that are broadly applicable.