A Paradigm for Inexpensive Service Robots

服务机器人领域有可能通过将人们从肮脏、乏味和危险的环境中解脱出来，提高数百万人的生活质量。然而，目前的机器人过于昂贵，任务灵活性有限，并且缺乏在服务应用中使用所需的健壮性。如果服务机器人要像个人电脑一样无处不在，就需要转变模式。这项研究的目标是开发一个“工具箱”，其中包含简单的执行器和结构元素，以及一种管理如何为特定服务任务组装组件的设计方法。这种方法的基础是使用二元(两状态)执行器，如气动气缸，因为它们的有效载荷与重量比很高，而且成本非常低。当与被动减振元件(仪表盘)结合使用时，这种执行器可以在二元状态之间提供平稳且良好的运动，而回差很小。在一组指定的任务中，用这个工具箱构建的机器人本质上是一台专用机器。与通用机器人相比，所产生的机器的专业性降低了对成本的要求并提高了机器人的可靠性。

The field of service robotics holds the potential to increase the quality of life of millions by removing people from situations that are dirty, dull, and dangerous. However, current robots are far too expensive, have limited task flexibility, and lack the robustness required for use in service applications. A paradigm shift is required if service robots are to ever be as ubiquitous as personal computers. The goal of this research is to develop a "toolbox" containing simple actuators and structural elements together with a design methodology which governs how the components should be assembled for specified service tasks. The cornerstone of this approach is the use of binary (two-state) actuators such as pneumatic cylinders because of their high payload to weight ratio and very low cost. When used in combination with passive damping elements (dashpots) such actuators provide smooth and well-behaved motion between binary states with very little backlash. Within a specified set of tasks the robot constructed from this toolbox is essentially a dedicated machine. The dedicated nature of the resulting machine reduces the cost requirements and increases the reliability of the robot as compared to general purpose robots.