CRI: IAD: Adaptive Manipulation in Human Populated Environments

CRI：IAD：人类居住环境中的自适应操纵

• 批准号: 0707601
• 负责人: Daniela Rus
• 金额: $ 5万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-07-15 至 2008-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0707601&HistoricalAwards=false
• 关键词: CRI; IAD; Adaptive; Manipulation; Human

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.

提案＃：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.这项工作既开发了新的低成本硬件设计，其特征是简单性和可预测性，以及稳定，强大的计划和控制算法，这些算法将使用感应和学习来适应操纵器的不同（非理想）功能。该设备将在不同的研究计划之间建立紧密的整合，从而可以迅速将算法进步部署在新的硬件上，而新的硬件功能可以推动新的算法开发。该项目能够解决机器人与物理世界和人类在非结构化动态环境中的人类的互动的算法和设备级别的挑战，该项目对当前缺乏严格而实用的科学基础做出了反应。算法解决方案与建模，控制，计划和适应的结合以及机器人操纵平台有望在几年内导致新的低成本操纵平台。这些设计包括合规性和能力的机器人操纵器，以及模块化的合作，神经模因和水下操纵器。Boader的影响：负担得起的，可教的，可教的，移动操纵器应为老年人和/或无能为力的老年人提供家庭助手。机器人操纵器的下一代可能会支持新的工厂自动化水平，在这种情况下，机器人将与人类协同工作以降低制造成本。这个多样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加广泛的外展活动。教育外展包括机器人教育研讨会。