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

CRI：人类环境中机器人编程和任务执行的实验平台

• 批准号: 0454074
• 负责人: Oliver Brock
• 金额: --
• 依托单位: University of Massachusetts Amherst
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-07-01 至 2010-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0454074&HistoricalAwards=false
• 关键词: CRI; Experimental; Platform; Robot; Programming

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.

摘要建议：CNS 0454074 PI：奥利弗布罗克机构：马萨诸塞州阿默斯特大学项目：NSF 04-588 CISE计算研究平台标题：CRI：人类环境中机器人编程和任务执行的实验平台研究人员将构建一个机器人平台，该平台将移动性和灵巧的操作能力与先进的传感技术相结合。该平台将作为实验测试平台，用于集成研究工作到编程移动的机械手在人类环境中执行复杂任务的算法。该基础设施将支持五个项目的研究。(i)概率逻辑规划使用世界的表示来制定计划。这项研究将开发适应性策略来处理真实的世界中的不确定性。(ii)移动的机械手的传感处理的挑战，协调的机械手的运动和移动操作，允许在世界各地移动。(iii)移动的机械手的传感将探索如何移动传感器，如摄像机，以获得场景的多个视图，并提高对场景的理解。(iv)通过演示编程将开发技术，从人类操作员那里学习如何执行复杂的任务。(v)观察编程使用隐马尔可夫模型来处理分层任务分解。该项目的更广泛影响包括在学生论文项目中使用该设施，从附近女子学院招聘的REU项目，以及参与SPUR方案，该方案为代表性不足的群体的学生提供夏季研究机会。