Compositional autonomy for humanoid robots with risk-aware decision-making
Compositional autonomy for humanoid robots with risk-aware decision-making
复制标题
具有风险意识决策的人形机器人的组成自主性
DOI：
10.1109/humanoids.2017.8246927
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
T. Padır
中科院分区：
文献类型：
--
作者：
X. Long;P. Long;T. Padır
本文为仿人机器人在组合式机器人自主环境下的风险感知决策奠定了基础。简而言之，这个想法是通过从可行的动作集中选择一系列动作来将任务级自主机器人的行为组合到一个整体运动计划中。在这样做的过程中，我们建立了一个总风险函数来评估和分配一个风险值给各个机器人动作，然后可以用这个风险值来计算执行计划的总风险。因此，当机器人意识到与执行一种组合而不是另一种组合相关的风险时，各种动作可以被组合成完整的自主运动计划。为了说明这一概念，我们引入了两个具体的风险度量，即碰撞风险和坠落风险。我们使用NASA的Valkyrie人形机器人进行了仿真，展示了这一风险感知组合机器人自主性的基础研究结果。
This paper lays the foundations of risk-aware decision-making within the context of compositional robot autonomy for humanoid robots. In a nutshell, the idea is to compose task-level autonomous robot behaviors into a holistic motion plan by selecting a sequence of actions from a feasible action set. In doing so, we establish a total risk function to evaluate and assign a risk value to individual robot actions which then can be used to find the total risk of executing a plan. As a result, various actions can be composed into a complete autonomous motion plan while the robot is being cognizant to risks associated with executing one composition over another. In order to illustrate the concept, we introduce two specific risk measures, namely, the collision risk and the fall risk. We demonstrate the results from this foundational study of risk-aware compositional robot autonomy in simulation using NASA's Valkyrie humanoid robot.