Reactive Algorithms in Robotics

本研究的主要目标是从高层次任务的描述出发，构建一个理解和设计无功器件的理论框架。这项研究是基于一种新的机器人算法，PI称之为“反应算法”。这些研究为机器人本身如何像“模拟计算机”一样使用其身体部位，并在计算上比其“数字大脑”更强大提供了见解，也许最终会对神经元比机器人少得多的昆虫如何能够完成更复杂的操作和运动任务的问题有所启发。到目前为止，这些想法的主要应用是建造新的平行爪爪和多指（2指和3指）手，一个“旋转机器”和一个行走机器。PI已经基于这些算法思想建立了一个平行颚夹持器的原型（“NYU反应式夹持器”）。由此产生的抓手将必要的计算能力降低到只有几个简单的数字电路，利用原始的传感能力，即不超过十二个红外发射器和探测器，并以平稳的方式操作，而不会干扰或损坏被操纵的物体。PI一直在研究如何使用Ramadge-Wonham离散事件系统（DES）形式化来描述这些设备并证明它们的正确性。另一个目标是了解这些设备的“计算”复杂性，基于一个框架来分析在线算法与理想的千里眼算法的“竞争力”。其他理论问题涉及到噪声的影响、免疫噪声的算法修改、传感器放置问题以及稳定性和收敛性。

The primary goal of this research is to construct a theoretical framework for understanding and design of reactive devices starting from the description of a high-level task. The research is based on a new class of robot algorithms that the PI calls ``reactive algorithms.'' These offer insights into how a robot itself can use its body parts like "analog computers'' and be computationally more powerful than its "digital brain,'' and perhaps may ultimately shed some light on the question of how insects with far fewer neurons than a robot are able to accomplish much more complicated manipulation and locomotion tasks. So far the main applications of these ideas have been in constructing new parallel-jaw grippers and multifingered (2- and 3-fingered) hands, a "twirling-machine'' and a walking machine. The PI has built a prototype parallel-jaw gripper ("NYU reactive gripper'') based on these algorithmic ideas. The resulting gripper reduces the necessary computing power to only a few simple digital circuits, utilizes primitive sensing abilities, i.e., no more than a dozen infra-red emitters and detectors and operates in a smooth manner without disturbing or damaging the manipulated objects. The PI has been investigating how to describe these devices and prove their correctness using the Ramadge-Wonham Discrete Event System (DES) formalisms. Another goal is to understand the "computational'' complexity of these devices based on a framework for analyzing the "competitiveness'' of on- line algorithms in comparison to an idealized clairvoyant algorithm. Other theoretical questions relate to the effect of noise, algorithmic modification for immunization against noise, the sensor-placement problem, and stability and convergence properties.