Robot Haptics: Probabilistic Methods for Active Perception

该项目的主要目的是开发能够显著提高机器人触觉的实用性和可靠性的方法。pi提出的机器人触觉（通过主动触摸交互的感知和操作）研究特别解决了机器人在非结构化情况下的使用，在这种情况下，对要操作的对象知之甚少，并且单独的视觉信息不足以保证稳健的任务性能。本研究将包括三个主要组成部分：1。触觉的概率传感器处理方法。概率技术的优势在于它们能够根据给定的物理模型将许多有噪声的传感器数据流（如接触信息）融合在一起。新的主动感知方法。与人类的感官一样，需要积极的探索，为传感器提供有关世界物理特性的丰富信息来源。自主策略选择。为了完成任务，我们经常需要在操作和探索之间进行切换。这项研究的一个关键贡献将是决策理论的概率方法，用于确定何时操作可能成功，何时需要进一步的触觉探索。为了支持所提出的机器人触觉研究，提出构建概率操作实验表（PMET）。PMET将由一个或两个带有仪表的“指尖”末端执行器的小型操纵臂组成，该末端执行器支持力传感器、加速度计和触觉传感器。一个交互式控制软件包，概率机器人工作室（PRS），将开发提供一个图形界面来配置实验和实时查看概率模型。研究的初始阶段将开发概率模型和勘探策略，以表征接触特性（包括接触滑动）和物体的非视觉特性（摩擦系数、质心等）。中间阶段将展示自主的策略选择在鲁棒的单指操纵的对象在平面上。最后阶段将包括两指探索，两指操作和举起物体。从这项工作中增加对触摸感官信息的理解将为机器人设计界提供更好的机器人手及其传感器系统的构建技术。PMET和PRS将提供一个互动的实验平台，可以用来训练机器人学生和探索新的想法。ppi计划让高中生在斯坦福大学附近地区进行暑期实习，以便对PRS进行试验。此外，pi将帮助实习生开发K-12学生的演示文稿。

The primary purpose of the project is to develop methods that dramatically increase the utility and reliability of a robot's sense of touch. The PIs' proposed study of robot haptics (perception and manipulation through active touch interaction) particularly addresses the use of robots in unstructured situations where little may be known about the objects to be manipulated and where visual information alone is not sufficient to guarantee robust task performance.This research will consist of three main components:1. Probabilistic sensor processing methods for haptics. The strength of probabilistic techniques is their ability to fuse together many streams of noisy sensor data (such as contact information) based on a given physical model.2. New active perceptual methods. As with human senses, active exploration is required to provide sensors with a rich source of information about physical properties of the world.3. Autonomous strategy selection. Often it is necessary to switch between manipulation and exploration in order to accomplish a task. A key contribution of this research will be a decision-theoretic probabilistic method for determining when manipulation is likely to succeed and when further haptic exploration is required.In order to support the proposed robot haptics research, the construction of the Probabilistic Manipulation Experiment Table (PMET) is proposed. The PMET will consist of one or two small manipulating arms with instrumented 'fingertip' end effecters that support force sensors, accelerometers, and tactile sensors. An interactive control software package, the Probabilistic Robotics Studio (PRS), will be developed to provide a graphical interface to configure experiments and view probabilistic models in real-time. Initial phases of research will develop probabilistic models and exploration strategies that characterize properties of contact (including contact slip) and non-visual properties of objects (frictional coefficients, center of mass, etc.).Intermediate phases will demonstrate autonomous strategy selection during robust one-finger manipulation of objects in the plane. The final phases will include two-finger exploration, two finger manipulation, and lifting objects.Increased understanding of touch sensory information from this work will give the robot design community better construction techniques for robot hands and their sensor systems. The PMET and PRS will provide an interactive experimental platform that can be used to train robotics students and explore new ideas. The PIs plan summer internships for high school students in the area around Stanford University to allow experimentation with the PRS. In addition, the PIs will aid the interns in development of presentations for K-12 students.