SGER: Experimental Validation of a Human-Friendly Robot Testbed

提出的研究是开发一种新的驱动方法，非常适合在人类环境中操作的新一代机器人，并从安全性和性能的角度对分布式宏观微型驱动（DM2）方法进行验证和评估的综合实验研究。DM2的方法解决了机器人的安全和性能特征。DM2方法采用一对执行器，并联连接并分布在机器人的不同关节上。通过隔离执行器的反射惯性，大大降低了整个机器人的有效惯性，同时大大减轻了机械手的整体重量。通过与关节配合的小型执行机构保持性能。该方法的关键新颖之处在于驱动综合，除了传统的连续转矩量需求分析外，还引入了机器人控制中执行器频率响应的实际要求。特别令人感兴趣的是机器人与其周围环境之间三维碰撞时的冲击力分析。两项安全标准措施将用于量化冲击力降低方面的安全改进。此外，将对比传统的低阻抗设计来评估机器人的性能特征。本项目所提出的工作，对于加速人类友好型机器人在各个方面和应用领域的研究和技术发展具有很大的潜力。这些应用包括机器人假肢和辅助设备，以及机器人装配和自动化的传统领域。这一领域可以扩展到需要密切人机交互的环境和任务，大大增加了机器人增强的制造和装配任务范围。最后，复杂的系统，如类人机器人系统，将需要固有的安全性，以使公众普遍接受。本项目的研究活动和许多基础分析和概念验证将为研究生和本科生提供重要的培训和发展机会，作为大学赞助的夏季研究项目的一部分。通过斯坦福机器人实验室提供教育和推广机会。研究成果和硬件演示是斯坦福大学正式课程的一部分，也是实验室向校友、行业和中学组织推广工作的一部分。

The proposed research is to develop a new actuation methodology well suited for the emerging generation of robots conceived to operate in human environments, and to conduct a comprehensive experimental study of validation and evaluation of the distributed macro mini actuation (DM2) methodology from the point of views of safety and performance. The methodology of DM2 addresses both the safety and performance characteristic of a robot. The DM2 approach employs a pair of actuators, connected in parallel and distributed to the different joints of the robot. The effective inertia of the overall robot is substantially reduced by isolating the reflected inertia ofthe actuator while greatly reducing the overall weight of the manipulator. Performance is maintained with small actuators collocated with the joints. The key novelty in this approach lies in an actuation synthesis that introduces, in addition to the conventional analysis of continuous torque magnitude needs, the actual requirements in actuator frequency responses in robot control. Of particular interest is the analysis of impact forces in a three dimensional collision between a robot and its surroundings. Two safety standard measures will be used to quantify the improvement in safety in terms of reduction of impact force. In addition, the robot performance characteristics will be evaluated against traditional low-impedance design.The effort proposed in this project has the potential to greatly contribute to accelerating the research and technology development in various aspects and application areas of human-friendly robotics. Such applications include robotic prosthetic and assistive devices, as well as traditional areas of robotic assembly and automation. This area can be expanded to environments and tasks, which require close human-robot interaction, greatly increasing the range of manufacturing and assembly tasks available for robotic augmentation. Finally, complex systems, such as human-like robotic systems, will require inherent safety to be acceptable to the public at large. The research activities and much of the underlying analysis and concept validation in this project will provide an important training and development opportunities to graduate students and during the summer quarter to undergraduate students as part of university sponsored summer research programs. Educational and outreach opportunities are provided through the Stanford Robotics Laboratory. The research results and hardware demonstrations are presented as part of formal course work at Stanford as well as part of the Laboratory outreach efforts to alumni, industry, and secondary school organizations.