CISE Research Instrumentation

CISE 研究仪器

• 批准号: 9320419
• 负责人: Oussama Khatib
• 金额: $ 10.77万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1994
• 资助国家: 美国
• 起止时间: 1994-03-01 至 1995-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9320419&HistoricalAwards=false
• 关键词: CISE; Research; Instrumentation

9320419 Khatib The general thrust of this effort is to develop mobile manipulation systems with ever-increasing degrees of autonomy. The equipment, two mobile robots with manipulators, will be used for the research projects outlined below: Robotic Material Handling Assistants: Autonomous transport of material through complex domains is a task that might be considered beyond the current capability of robotic systems. Construction areas are a prime example of such an environment. However, a set of cooperating robotic "assistants" with human guidance could accomplish just such a task, increasing productivity and decreasing the risk of injury. The goal in this project is to develop such a set of mobile robotic assistants. Initially, these robots would be guided in their actions by a human "master." As the project progresses, ever-increasing levels of autonomy would be exhibited, increasing the dexterity of the system. Visual Sensing for Mobile Robots: The project is aimed to develop real-time visual sensing capabilities for mobile robots. This goal offers a considerable challenge, but it is a crucial step that must be taken to bring mobile robots into real-world unstructured task environments. This work starts by implementing and evaluating a variety of vision algorithms using two experimental setups: a stereo platform and motion analysis stage. The results of the research will be both a systematic comparison, and possibly combination, of existing algorithms, as well as a benchmark of calibrated image data to be used at Stanford and by others in the field. Cooperation among Autonomous Mobile Age nts: Several aspects of cooperation will be investigated, including communication modality, cooperation strategy, type of information or service exchanged, and degree of responsibility exchanged. The focus will be on agents that have advanced cognitive and physical capabilities and considerable autonomy. Their interactions will be discretionary and opportunistic, reflecting an explicit (but usually incomplete) understanding of their own capabilities, goals, and plans, along with those of their cooperative partners. Research on Autonomous Agents: In this project, the goal is to provide robotic systems with a high degree of run-time "conditionality" which are capable of adapting to complex and changing environments. *** ` $ AUTOEXEC33 Xt V LM VW @$ CONFIG BAK V CONFIG OLD nW WIN31 X 9320419 Khatib The general thrust of this effort is to develop mobile manipulation systems with ever-increasing degrees of y { 2 4 $ $ $ $ G M M Times Symbol " Helvetica Chicago Times New Roman & Arial 5 Courier New R ZapfDingbats Palatino Greek GenMath MathMeteor MT Extra & & & " b eFj 8 Khatib/Stanford Mark Purvis Mark Purvis

9320419 Khatib这项工作的总体目标是开发具有不断增加的自主程度的移动操作系统。该设备是两个带操纵器的移动机器人，将用于以下研究项目：机器人材料处理助手：通过复杂领域自动运输材料是一项可能被认为超出机器人系统当前能力的任务。建筑区域就是这种环境的典型例子。然而，一组在人类指导下合作的机器人“助手”可以完成这样的任务，提高生产率并降低受伤的风险。这个项目的目标就是开发这样一套移动机器人助手。最初，这些机器人的行动将由人类“主人”指导。随着项目的进展，越来越多的自主性将被展示出来，增加了系统的灵活性。移动机器人的视觉感知：该项目旨在开发移动机器人的实时视觉感知能力。这个目标提出了相当大的挑战，但它是将移动机器人带入现实世界非结构化任务环境必须采取的关键步骤。这项工作首先通过使用两个实验设置实现和评估各种视觉算法：一个立体平台和运动分析阶段。这项研究的结果将是对现有算法的系统比较，也可能是对现有算法的组合，同时也是斯坦福大学和该领域其他人使用的校准图像数据的基准。自主移动时代蚂蚁之间的合作：将研究合作的几个方面，包括通信方式、合作策略、交换的信息或服务类型以及交换的责任程度。重点将放在具有先进的认知和身体能力以及相当大的自主性的代理上。他们的互动将是随意的和机会主义的，反映了他们对自己的能力、目标和计划以及合作伙伴的明确（但通常是不完整的）理解。自主代理研究：在这个项目中，目标是为机器人系统提供高度的运行时“条件性”，能够适应复杂和不断变化的环境。*** $ AUTOEXEC33 Xt V LM VW @$ CONFIG BAK V CONFIG OLD nW WIN31 X 9320419 Khatib这项工作的总体推力是开发具有不断增加的移动操作系统Y {2 4$ $ $ $ G M M时代符号" Helvetica Chicago Times New Roman &amp；Arial 5 Courier New R ZapfDingbats Palatino希腊文GenMath MathMeteor MT Extra &amp； & &amp；- eFj 8哈提卜/斯坦福Mark Purvis Mark Purvis