CRI: IAD: Adaptive Manipulation in Human Populated Environments

提案#：CNS07-07601 Pi(S)：Rus，Daniela Kaelering，Leslie P.；Lozano-Perez，Tomas；Mosa qui，Steve G.；Roy，Nicholas Institution：麻省理工学院剑桥分校，MA 02139-4307标题：IAD：人类居住环境中的自适应操作项目建议：该项目支持现有的和正在开发的机器人操作器研究，旨在提供一个基础设施，使教职员工和学生能够在机器人操作和低成本操作平台的设计方面取得协同进展。这项工作既开发了以简单和可预测为特征的新的低成本硬件设计，又开发了稳定和健壮的规划和控制算法，这些算法将使用传感和学习来适应机械手的不同(非理想)能力。这些设备将促进不同研究计划之间的紧密集成，以便算法进步可以迅速部署到新的硬件上，新的硬件能力可以推动新的算法开发。该项目解决了使机器人能够在非结构化动态环境中与物理世界和人类自适应互动的算法和设备层面的挑战，回应了目前缺乏严格和实用的操纵科学基础的问题。将建模、控制、规划和适应的算法解决方案与机器人操作平台相结合，预计将在几年内带来新的低成本操作平台。设计包括顺应和有能力的机器人机械手，以及模块化合作、神经模拟和水下机械手。广泛的影响：负担得起、可教学的移动机械手应该能够为老年人和/或无行为能力的人提供居家助手。下一代机器人操作手可能会支持工厂自动化的新水平，机器人将与人类协同工作，以降低制造成本。这个多元化的跨学科小组将继续培训扎实的学生，并通过波士顿科学博物馆和波士顿水族馆参与广泛的外联活动。教育外展包括机器人教育讲习班。

Proposal #: CNS 07-07601 PI(s): Rus, Daniela Kaelbling, Leslie P.; Lozano-Perez, Tomas; Massaquoi, Steve G.; Roy, Nicholas Institution: Massachusetts Institute of Technology Cambridge, MA 02139-4307 Title: IAD:Adaptive Manipulation in Human Populated Environments Project Proposed:This project, supporting existing and developing research in robotic manipulators, aims to provide an infrastructure where faculty and students can work towards synergistic advances in robot manipulation and in the design of low-cost manipulation platforms. The work develops both new, low-cost hardware designs characterized by simplicity and predictability and stable and robust planning and control algorithms that will use sensing and learning to adapt to the different (non-ideal) capabilities of manipulators. The equipment will foster tight integration between different research programs such that algorithmic advances can be rapidly deployed on new hardware, and new hardware capabilities can drive new algorithmic development. Addressing both the algorithmic and device-level challenges that enable robots to interact adaptively with the physical world and with humans in unstructured dynamic environments, the project responds to the current lack of rigorous and practical scientific foundation for manipulation. The combination of algorithmic solutions to modeling, control, planning, and adaptation, and a robotic manipulation platform is expected to lead to new low-cost manipulation platforms within a few years. The designs include compliant and capable robot manipulators, as well as modular cooperative, neuromimetic, and underwater manipulators.Broader Impacts: Affordable, teachable, mobile manipulators should enable in-home assistants for the elderly and/or incapacitated. The next-generation of robot manipulators is likely to support new levels of factory automation, in which robots will work synergistically with humans to reduce manufacturing cost. This diverse interdisciplinary group will continue the training of solid students and participate in broad outreach activities through the Boston Museum of Science and the Boston Aquarium. Education outreach includes Robotic Education Workshops.