Robots on the Edge: Enabling Non-Specific Mulit-Limbed Robots with Autonomous Free-Climbing Capabilities

边缘机器人：实现具有自主自由攀爬能力的非特定多肢机器人

• 批准号: 0412884
• 负责人: Stephen Rock
• 金额: $ 45万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-09-01 至 2007-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0412884&HistoricalAwards=false
• 关键词: Robots; Edge; Enabling; Non; Specific

Robots on the Edge:Enabling Non-Specific Multi-Limbed Robots with Autonomous Free-Climbing CapabilitiesThe goal of this program is to develop a fundamental understanding of the problem-solving activity underlying climbing, then to create new technologies based on this understanding that will enable non-specific multi-limbed robots to free-climb natural, unstructured, vertical terrain. Climbing is regarded by human climbers to be a physical problem-solving activity in a highly unstructured environment. Overall, climbing involves a tight combination of fast but insightful reasoning, goal-directed sensing, and reactive execution. Sophisticated planning is required to handle hard constraints (e.g., equilibrium, torque limits, collision) on the agent's motion, as well as softer ones (e.g., uncertainties, risk level, energy consumption). Precise sensing (e.g., tactile, vision) is used to search and detect potential holds in the unstructured rock face, estimate the location and characteristics of contact points, and anticipate or detect slip. Fine control is needed to maintain balance through careful distribution of contact forces. A solution to the climbing problem requires that these activities be fused into a seamless process. This program will seek advances in the specific areas of terrain modeling, multi-constraint trajectory planning and robust motion strategies with an initial emphasis on multi-constraint trajectory planning and control. The LEMUR II robot of JPL will be used to validate experimentally the results of the program. It will be used to demonstrate multi-step climbing in an unknown environment. The goal is to have it climb autonomously an indoor rock wall (similar to a climbing gym).

机器人在边缘：使非特定的多肢机器人与自主自由攀登能力这个计划的目标是发展的问题解决活动的基础上攀登的基本理解，然后创建新的技术基于这种理解，将使非特定的多肢机器人自由攀登自然，非结构化，垂直地形。 攀岩被人类攀岩者认为是在高度非结构化的环境中解决物理问题的活动。 总的来说，攀岩涉及快速但有洞察力的推理，目标导向的感知和反应性执行的紧密结合。需要复杂的规划来处理硬约束（例如，平衡、转矩限制、碰撞），以及更软的（例如，不确定性、风险水平、能源消耗）。精确感测（例如，触觉、视觉）用于搜索和检测非结构化岩石表面中的潜在支撑点、估计接触点的位置和特性以及预测或检测滑动。需要精细的控制来通过仔细分配接触力来保持平衡。 攀登问题的解决方案需要将这些活动融合到一个无缝的过程中。 该计划将寻求在地形建模，多约束轨迹规划和鲁棒运动策略的具体领域的进展，最初强调多约束轨迹规划和控制。 喷气推进实验室的LEMUR II机器人将用于实验验证该计划的结果。 它将用于演示在未知环境中的多步攀登。 目标是让它自主爬上室内岩壁（类似于攀岩房）。