Robotic Material Handling Assistants

9320017 Khatib该研究研究了开发自动化移动机器人助手的概念和方法，以帮助人类工人在运输，固定，连接或组装重型材料的各个方面。该项目研究了机器人与人类和其他机器人合作所需的规划、传感、感知和控制。在研究的第一阶段，一个机器人助手将充当人类操作员的放大器，在指导下做出反应，举起和移动沉重或笨拙的材料。接下来，实时3D范围和运动视觉将被整合，以扩展系统在障碍物和动态路径考虑方面的能力。最后，多个具有视觉、力感和通信能力的助手将与操作员合作，处理更困难的部件，同时在人类监督下继续工作。这项研究的结果应该适用于建筑工地的操作，重型制造，以及其他各种涉及重型和/或笨拙大小的物体的应用。

9320017 Khatib The research studies concepts and methods for development of an automated mobile robotic assistant to aid human workers in various aspects of transporting, fixturing, and attaching or assembling heavy materials. The project investigates the planning, sensing, perception, and control needed for robots to work cooperatively with humans and other robots. In the first stage of the research, a robot assistant will act as an amplifier for a human operator, responding under guidance to lift and move heavy or awkward material. Next, real-time 3D range and motion vision will be incorporated to extend the system's capabilities with respect to obstacles and dynamic path considerations. Finally, multiple assistants, each with vision, force sensing, and communication capabilities, will work cooperatively and with the operator to handle more difficult pieces, while continuing under human supervision. The results of this research should be applicable to construction-site operations, heavy manufacturing, and a variety of other applications involving heavy and/or awkward-sized objects.