CISE Postdoctoral Research Associates in Experimental Computer Science: Postdoctoral Research in Self-Reconfiguring Robots

CISE 实验计算机科学博士后研究员：自重构机器人的博士后研究

• 批准号: 9901589
• 负责人: Daniela Rus
• 金额: $ 6.6万
• 依托单位: Dartmouth College
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-08-15 至 2002-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9901589&HistoricalAwards=false
• 关键词: CISE; Postdoctoral; Research; Associates; Experimental

9901589 Rus, Daniela Dartmouth College CISE Postdoctoral Research Associates in Experimental Computer Science: Postdoctoral Research in Self-Reconfiguring RobotsThe vision of this work is to create more versatile robots by using self-reconfiguration: hundreds of small modules autonomously organizing and reorganizing as geometric structures to bestfit the terrain on which the robot has to move, the shape the object the robot has to manipulate, or the sensing needs for a given task. Large collections of mini robots, fabricated using rapidly evolving robotic technology will perform useful coordinated work, including small scale actuation and repair, transport of small artifacts, active manipulation of surface properties, etc.To create flexible, robust, and autonomous robotic systems capable of such applications, a fundamental goal of this research is to develop a science-base for self-reconfiguring robotics. This is a considerable challenge, which is being met through (1) new designs for reconfigurablesystems and (2) new ideas on algorithmic planning and control that can confer autonomous reconfigurability. This kind of reconfigurable robotics science will greatly enhance the autonomous capabilities of distributed robotic systems.More specifically, the central challenges for this work are to (1) design and build simple modules that can self-reconfigure in three dimensions; (2) build distributed robot systems using these modules; (3) develop and implement centralized as well as distributed planning algorithms andcontrol systems that allow a set of modules to self-reconfigure as any desired static or dynamic geometric structures; (4) analyze the dynamic stability and fault tolerance of self-reconfiguring structures during motion; and (5) demonstrate the applicability of this technology through experiments in versatile locomotion and manipulation, and self-repair.

9901589罗斯，丹妮拉达特茅斯学院CISE实验计算机科学博士后研究员：自我重构机器人的博士后研究这项工作的愿景是通过使用自我重构来创建更多功能的机器人：数以百计的小模块自主地组织和重组为几何结构，以最好地适应机器人必须移动的地形，机器人必须操纵的物体的形状，或给定任务的感测需求。 大量的迷你机器人，制造使用快速发展的机器人技术将执行有用的协调工作，包括小规模的驱动和修复，运输的小工件，表面特性的主动操纵等。为了创建灵活，强大的，自主的机器人系统能够这样的应用程序，本研究的一个基本目标是开发一个科学基础的自重构机器人。 这是一个相当大的挑战，这是通过（1）可重构系统的新设计和（2）算法规划和控制的新想法，可以赋予自主可重构性。 这种可重构机器人科学将极大地提高分布式机器人系统的自主能力，更具体地说，这项工作的核心挑战是：（1）设计和构建能够在三维空间中自重构的简单模块;（2）使用这些模块构建分布式机器人系统;（3）开发和实施集中式和分布式规划算法和控制系统，使一组模块能够自我重新配置为任何所需的静态或动态几何结构;（4）分析了自重构结构在运动过程中的动态稳定性和容错性;（5）通过多功能运动和操作以及自修复实验验证了该技术的适用性。