Dynamically Stable Single Wheeled Robots in Human Environments

人类环境中动态稳定的单轮机器人

• 批准号: 0535183
• 负责人: Ralph Hollis
• 金额: --
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Continuing 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=0535183&HistoricalAwards=false
• 关键词: Dynamically; Stable; Single; Wheeled; Robots

The proposed research builds on results obtained from NSF grant IIS-0308067. 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 utilizes and further develops a novel dynamically stable rolling machine research platform referred to as a "ballbot." In the spirit of minimalism, the machine balances and 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 purpose is 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. A key aspect of the project is to investigate the addition of a pair of dynamically significant two-degree-of-freedom arms. This will allow the development of control strategies for movement of the ballbot body by dynamic swinging of the arms. Automatic recovery from unplanned collisions with a spectrum of obstacle types as well as purposeful manipulation of the human environment, e.g., carrying unknown loads while balancing, and opening/closing drawers and doors will be investigated using only intrinsic sensing abilities. Insights will be gained toward the development of agile motive platforms that can 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

该研究基于NSF资助IIS-0308067的结果。该研究的目标是更深入地了解如何在与人交互的移动的机器中实现动态敏捷性，并在正常的家庭和工作环境中运行。这项工作利用并进一步开发了一种新型的动态稳定的滚动机器研究平台，称为“球机器人”。“本着极简主义的精神，机器仅使用单个球形轮进行平衡和运动。这使得机器又高又窄，具有较高的质心，顺应轻推和推挤，并在任何方向快速移动。其目的是阐明围绕敏捷机器在人类环境中的操作的许多问题;特别是穿越狭窄，杂乱的房间和在人面前稳健运行的能力。 该项目的一个关键方面是研究增加一对动态显着的两个自由度的手臂。这将允许通过臂的动态摆动来开发用于球机器人身体的运动的控制策略。从与一系列障碍物类型的意外碰撞中自动恢复，以及有目的地操纵人类环境，例如，在平衡时携带未知负载，以及打开/关闭抽屉和门将仅使用固有的感测能力来研究。 将获得对敏捷动力平台的开发的见解，这些平台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的机器人，用于与人进行物理接触。这种机器人如果能够实现并且在经济上可行，将作为老年人或残疾人的辅助工具;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;或取用和搬运日常物品