Toward Dynamically Stable Mobile Robots in Human Environments

机器人和人类增强计划摘要提案编号：308067标题：走向人类环境中动态稳定的移动的机器人PI：霍利斯，卡内基梅隆大学的研究目标是获得更深入的了解如何动态敏捷性可以实现移动的机器人与人互动，并在正常的家庭和工作环境中运行。 这项工作开发和利用了一种新型的动态稳定的轧机研究平台。 为了阐明敏捷机器在人类环境中运行的许多问题，特别是穿越狭窄，杂乱的房间和在人面前稳健运行的能力，我们正在研究可能是最简单的动态稳定的移动的机器人之一：一台机器，其身体仅使用一个球形轮运动。这使得机器又高又窄，具有较高的质心，顺应轻推和推挤，并在任何方向快速移动。该机器将有一个前庭系统，基于惯性测量单元和其他传感器，带有一台机载计算机，以提供运动和平衡的闭环控制。这种新型滚动运动的功效将在人类环境的背景下进行评估。将获得对敏捷动力平台的发展的见解，在未来可以与研究界正在进行的感知，导航和认知工作相结合，以产生真正有能力的智能移动的机器人用于与人的物理接触。 这种机器人如果能够实现并且在经济上可行，将作为老年人或残疾人的辅助工具;在公共场所提供指导和帮助;帮助教育和娱乐;进行家庭清洁和家务管理;或取送日常物品。 可以设想许多其他用途，例如进入敌对环境，救援和自动监视以保护人员或财产。

Robotics and Human Augmentation ProgramABSTRACTProposal #: 308067Title: Toward Dynamically Stable Mobile Robots in Human EnvironmentsPI: Hollis, RalphCarnegie Mellon U.The goal of the research is to gain deeper understanding of how dynamic agility can be achieved in mobile machines interacting with people and operating in normal home and workplace environments. The work develops and utilizes a novel dynamically stable rolling machine research platform. To illuminate many of the issues surrounding the operation of agile machines in human environments, in particular the ability to traverse narrow, cluttered rooms and to function robustly in the presence of people, we are investigating what could be one of the simplest possible dynamically-stable mobile robots: a machine whose body locomotes using only a single spherical wheel. This enables the machine to be tall and narrow, have a high center of mass, respond compliantly to nudges and shoves, and rapidly move in any direction. The machine will have a vestibular system based on an inertial measuring unit and other sensors with an on-board computer to provide closed-loop control of movement and balance. The efficacy of this new type of rolling locomotion will be evaluated in the context of human environments. Insights will be gained toward the development of agile motive platforms that in the future could be combined with the research community's ongoing work in perception, navigation, and cognition, to yield truly capable intelligent mobile robots for use in physical contact with people. Such robots, if realizable and economically viable, would function as aids to elderly or disabled persons; provide guidance and assistance in public spaces; help with education and entertainment; perform domestic cleaning and housekeeping; or fetch and carry everyday objects. Many other uses such as entry into hostile environments, rescue, and automated surveillance to safeguard people or property can be envisioned.