PIRE: Humanoids - Universally Accessible Infrastructures to Advance Capabilities

PIRE：类人机器人 - 普遍可访问的基础设施以提升功能

• 批准号: 0730206
• 负责人: Paul Oh
• 金额: $ 250万
• 依托单位: Drexel University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-09-01 至 2013-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0730206&HistoricalAwards=false
• 关键词: PIRE; Humanoids; Universally; Accessible; Infrastructures

0730206OhHumanoids are bipedal robots engineered to mimic human locomotion, balance and coordination. The Honda ASIMO and KAIST HUBO are adult-sized humanoids that have captured public interest and have given researchers insight on issues ranging from balance disorders to cognition and perception. This 5-year PIRE project teams U.S. and Korean universities (Drexel University, University of Pennsylvania, Virginia Tech, Swarthmore College, Bryn Mawr Women's College, Korea Advanced Institute of Science and Technology (KAIST), Seoul National University and Korea University) to advance humanoids.The critical technical gap that prevents a vertical advance in robotics is the lack of universally available platforms to reproduce results and validate hypotheses. This PIRE's goal is to provide humanoid platforms to a wide audience of researchers by developing a 3-tier tool set based on KAIST's HUBO humanoid: (1) virtual-HUBO is a free and open emulator for testing AI and IT concepts; (2) mini-HUBO is a low-cost 20-inch tall version of the full-sized humanoid for implementing algorithms; and (3) online-HUBO is a tethered version of the full-size humanoid that is accessible for researchers over the internet. This 3-tier approach provides little to no barriers to entry to humanoid research. These platforms will provide U.S. scientists and engineers the opportunity to leverage U.S. leadership in artificial intelligence (AI) and information technology (IT) to advance humanoid abilities in perception, cognition and social interaction.To reach the next generation of robotic scientist and engineers, the PIRE team is working closely with the Philadelphia Please Touch Museum (PTM) to design exhibits featuring HUBO to inspire and motivate students to pursue science and engineering careers.This PIRE project engages each member's unique resources, including electro-mechanical design (Korean collaborators), virtual-HUBO (Bryn Mawr), online-HUBO and co-op program (Drexel), mini-HUBO (Virginia Tech), advanced locomotion (UPenn) and human-robot interaction (Swarthmore). The 6-month co-op cycles (twice per year) at KAIST provide 20 U.S. undergraduates with an international research experience to cultivate skills and appreciation for effective global teaming and research. Shorter but more frequent visits by graduate students and faculty serve similarly functions but also ensure research goals and objectives are met. Lastly, Drexel's School of Education and Senior Personnel assess student performance, global teaming, and engineering skill acquisition. This PIRE is supported by the Office of International Science and Engineering (OISE) and the Robust Intelligence (RI) Cluster of the Division of Information and Intelligent Systems (IIS) found within the Directorate for Computer and Information Science and Engineering (CISE).

0730206 OhHumanoids是一种两足机器人，旨在模仿人类的运动、平衡和协调。 本田阿西莫和KAIST HUBO是成人大小的人形机器人，它们引起了公众的兴趣，并使研究人员对从平衡障碍到认知和感知的问题有了深入的了解。 这个为期5年的PIRE项目由美国和韩国的大学组成（德雷克塞尔大学、宾夕法尼亚大学、弗吉尼亚理工大学、斯沃斯莫尔学院、布林莫尔女子学院、韩国科学技术高等研究院、首尔国立大学和高丽大学）阻止机器人技术纵向发展的关键技术差距是缺乏普遍可用的平台来重现结果，验证假设。 PIRE的目标是通过开发基于KAIST的HUBO人形机器人的三层工具集，为广大研究人员提供人形机器人平台：（1）虚拟HUBO是一个免费开放的模拟器，用于测试AI和IT概念;（2）迷你HUBO是一个低成本的20英寸高的全尺寸人形机器人版本，用于实现算法;和（3）在线HUBO是一个全尺寸人形动物的拴系版本，研究人员可以通过互联网访问。 这种3层方法几乎没有进入人形研究的障碍。 这些平台将为美国科学家和工程师提供机会，利用美国在人工智能（AI）和信息技术（IT）方面的领导地位，提高人形机器人在感知、认知和社交方面的能力。PIRE团队正在与费城请触摸博物馆（PTM）密切合作设计以HUBO为特色的展品，以激发和激励学生追求科学和工程事业。该PIRE项目利用每个成员的独特资源，包括机电设计（韩国合作者），虚拟HUBO（布林莫尔），在线HUBO和合作计划（德雷克塞尔），迷你HUBO（弗吉尼亚理工大学），先进的运动（宾夕法尼亚大学）和人机交互（斯沃斯莫尔）。 KAIST为期6个月的合作周期（每年两次）为20名美国本科生提供了国际研究经验，以培养有效的全球团队合作和研究的技能和欣赏。 研究生和教职员工的短期但更频繁的访问具有类似的功能，但也确保了研究目标和目标的实现。 最后，德雷克塞尔大学的教育和高级人事学院评估学生的表现，全球团队合作和工程技能的获取。 该PIRE由国际科学与工程办公室（OISE）和计算机与信息科学与工程局（CISE）内的信息与智能系统（IIS）部门的鲁棒智能（RI）集群提供支持。