Toward Dynamically Stable Mobile Robots in Human Environments

机器人和人类增强计划建议#：308067标题：在人类环境中走向动态稳定的移动机器人PI：Hollis，RalphCarnegie Mellon U。研究的目标是更深入地了解如何在移动机器中实现动态敏捷性，与人互动并在正常的家庭和工作环境中操作。本工作开发并利用了一种新型的动态稳定轧制机械研究平台。为了阐明围绕着敏捷机器在人类环境中运行的许多问题，特别是穿越狭窄、杂乱的房间并在人在场的情况下稳健地工作的能力，我们正在研究一种可能是最简单的动态稳定移动机器人：一种仅使用一个球轮进行身体运动的机器。这使得机器又高又窄，重心高，对轻推做出顺从的反应，并向任何方向快速移动。这台机器将有一个基于惯性测量单元和其他传感器的前庭系统，带有车载计算机，提供运动和平衡的闭环控制。这种新型滚动运动的效果将在人类环境的背景下进行评估。将获得对敏捷动机平台的开发的见解，这些平台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，生产出真正有能力的智能移动机器人，用于与人的身体接触。如果这种机器人可以实现，并且在经济上可行，它将起到帮助老年人或残疾人的作用；在公共场所提供指导和帮助；帮助教育和娱乐；执行家务清洁和家务；或者取走和搬运日常物品。可以设想许多其他用途，如进入恶劣环境、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.