CISE Research Instrumentation

小行星9320419 这种努力的总的主旨是开发具有不断增加的自主程度的移动的操纵系统。 该设备是两个带机械手的移动的机器人，将用于以下研究项目： 机器人物料搬运助理：通过复杂领域自主运输物料是一项可能超出机器人系统当前能力的任务。 建筑领域是这种环境的一个主要例子。 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。 该项目的目标是开发这样一套移动的机器人助手。 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，将展示不断提高的自主水平，增加系统的灵活性。 移动的机器人视觉传感：该项目旨在为移动的机器人开发实时视觉传感能力。 这一目标提出了相当大的挑战，但它是一个关键的一步，必须采取将移动的机器人到现实世界的非结构化任务环境。 这项工作首先使用两个实验装置实现和评估各种视觉算法：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和可能的组合，以及斯坦福大学和该领域其他人使用的校准图像数据的基准。 自主移动的时代的nts之间的合作：几个方面的合作将被调查，包括通信方式，合作策略，类型的信息或服务交换，和程度的责任交换。 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权的代理上。他们的互动将是自由裁量和机会主义的，反映了他们对自己的能力、目标和计划的明确（但通常是不完整的）理解，以及他们与合作伙伴的沿着。 关于Autonomous Agents：在这个项目中，目标是提供具有高度运行时“条件性”的机器人系统，能够适应复杂和不断变化的环境。 *** ` $AUTOEXEC33 XT V LM 大众汽车@$ 配置巴克 V 旧配置 NW WIN31 X 小行星9320419 这种努力的总的主旨是开发具有不断增加的可操作性程度的移动的操纵系统。 y { 2 4 $ $ $ $ G M M 倍 Helvetica符号 芝加哥 Times New Roman Arial 5罗马新R ZapfDingbats Palatino 希腊 GenMath 数学气象 MT Extra & & & " B eFj 8 哈提卜/斯坦福大学 马克·珀维斯

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