CRI: Experimental Platform for Robot Programming and Task Execution in Human Environments

摘要提案：CNS 0454074PI: Oliver brock机构：马萨诸塞大学-阿默斯计划：NSF 04-588 CISE计算研究基础设施标题：CRI：人类环境下机器人编程和任务执行实验平台研究人员将构建一个结合移动和灵巧操作能力与先进传感的机器人平台。该平台将作为综合研究工作的实验测试平台，用于编程移动机械手以执行人类环境中的复杂任务。基础设施将支持五个项目的研究。(i)概率逻辑规划，利用世界的表象制定计划。本研究将发展适应策略来处理现实世界中的不确定性。（ii）移动机械臂的传感处理协调机械臂运动和允许在世界上移动的移动操作的挑战。（iii）移动机械手传感将探讨如何移动传感器，如相机，以获得多个视图的场景，提高对场景的理解。示范编程将发展向人类操作员学习如何执行复杂任务的技术。(v)观察编程使用隐马尔可夫模型处理分层任务分解。这个项目的更广泛的影响包括在学生论文项目中使用该设施，从附近的女子学院招募REU项目，以及参与SPUR项目，为来自代表性不足的群体的学生提供暑期研究机会。

AbstractProposal: CNS 0454074PI: Oliver BrockInstitution: University of Massachusetts - AmherstProgram: NSF 04-588 CISE Computing Research InfrastructureTitle: CRI: Experimental Platform for Robot Programming and Task Execution in Human Environments The investigators will construct a robotic platform that combines mobility and dexterous manipulation capabilities with advanced sensing. This platform will serve as the experimental testbed for an integrated research effort into algorithms for programming mobile manipulators to perform complex tasks in human environment. The infrastructure will support research on five projects. (i) Probabilistic logic planning to develop plans using a representation of the world. This research will develop adaptive strategies to deal with uncertainty in the real world. (ii) Sensing for mobile manipulators deals with the challenge of coordinating the motions of the manipulator and the mobility operations that permit moving about the world. (iii) Sensing for mobile manipulators will explore how to move sensors such as cameras to get multiple views of a scene and improve understanding of the scene. (iv) Programming by demonstration will develop techniques to learn from human operators how to perform a complex task. (v) Programming by observation uses a hidden Markov model to deal with hierarchical task decomposition. Broader impacts of this project include the use of the facility in student thesis projects, REU projects that recruit from nearby women's colleges, and participation in the SPUR program that provides summer research opportunities to students from underrepresented groups.