Spatial Knowledge Reasoning and Robotic Assembly in the Presence of Uncertainties

这是第一年资助的三个连续奖 IRI-9210423。 该项目旨在促进自动化 能够基于以下内容推理机器人环境的系统： 不完整的传感器数据和机器人运动的恢复错误 由内在的和不可避免的系统不确定性造成的。 具体而言，该项目研究如何充分获取 关于物体在空间中的空间状态的准确信息。 传感和建模不确定性的存在， 的自动装配运动的实用策略 所涉及部分的空间状态。 项目特别 在存在不确定性的情况下， 识别固定部件之间的意外碰撞/接触 (by操纵器）和环境的组合 位置/方向感测、视觉感测和力/力矩 感测，并根据运动计划的自动生成 所获得的联系信息，作为补救计划， 部件从非预期碰撞/接触到达其预期目标。 该项目预计将导致执行一项 原型系统能够自动识别 联系人和基于联系人的计划的生成，以及适当的 计划的执行，所有这些都存在不确定性。//

This is the first year funding of a three continuing award IRI-9210423. This project seeks to contribute to automatic systems capable of reasoning about a robotic environment based on imperfect sensory data and recovering errors of robot motions caused by intrinsic and inevitable system uncertainties. Specifically, the project studies how to acquire sufficiently accurate information about the spatial state of an object in the presence of sensing and modeling uncertainties and develops practical strategies for automatic assembly motions based on the spatial states of the parts involved. The project particularly focuses on, in the presence of uncertainties, the automatic recognition of unintended collision/contacts between a held part (by a manipulator) and the environment by combining position/orientation sensing, vision sensing, and force/moment sensing, and the automatic generation of motion plans based on the obtained contact information, as remedy plans, to lead the part to its intended goal from the unintended collision/contact. The project expects to result in the implementation of a prototype system capable of such automatic recognition of contacts and generation of contact-based plans, as well as proper execution of the plans, all in the presence of uncertainties. //