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机器人PI：Hollis，Ralph卡内基梅隆大学。该研究的目标是更深入地了解如何在与人交互以及在正常家庭和工作环境中操作的移动机器中实现动态敏捷性。 这项工作开发并利用了一种新型动态稳定轧机研究平台。 为了阐明围绕人类环境中敏捷机器操作的许多问题，特别是穿越狭窄、杂乱的房间以及在有人在场的情况下稳健运行的能力，我们正在研究可能是最简单的动态稳定移动机器人之一：一种仅使用单个球形轮进行身体移动的机器。这使得机器又高又窄，具有高质心，对轻推和推力做出顺从的响应，并在任何方向快速移动。该机器将配备一个基于惯性测量单元和其他传感器的前庭系统，并配有机载计算机，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中进行评估。我们将深入了解敏捷动力平台的开发，这些平台未来可以与研究界在感知、导航和认知方面正在进行的工作相结合，以产生真正有能力的智能移动机器人，用于与人进行身体接触。 如果这种机器人可以实现并且经济上可行，那么它可以为老年人或残疾人提供帮助；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；或取并携带日常物品。 可以设想许多其他用途，例如进入敌对环境、救援和保护人员或财产的自动监视。

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.