II-EN: Robotic Equipment for the Investigation of Dexterous Two-Handed Manipulation

II-EN：用于研究灵巧双手操作的机器人设备

• 批准号: 0855171
• 负责人: Nancy Pollard
• 金额: $ 38.17万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-08-01 至 2013-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0855171&HistoricalAwards=false
• 关键词: II; EN; Robotic; Equipment; Investigation

"This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5)."One of the grand challenges in robotics is to achieve dexterity, especially dexterity in manipulation. The equipment funded by this project ? a robot torso, two arms, and a custom designed robot hand, supports investigation of manipulation tasks, with a particular focus on two-handed dexterous manipulation. Primary projects include (1) task transfer of two-handed manipulation tasks from human demonstrations and (2) application domain specific designs for a non-dominant robot hand. For task transfer, this project explores a combination of task understanding, planning and learning, and direct user interaction, following along the lines of our previous research in one handed grasping and manipulation. For hand design, this project pursues design optimization to develop the simplest possible robot hand capable of accomplishing a suite of everyday tasks, operating as the non-dominant hand. This approach promises new insights into the required number of degrees-of-freedom of the hand, the required number of drive motors, required sensing, and the geometry of critical but often ignored parts of the hand, such as the palm.Broader impact includes forming a better understanding of human motion. We believe that we can only successfully transfer a task from a human demonstration to a robot performance if we understand a great deal about why a person chooses to perform a task in a certain way. Our proposed robot hand design project also has great implications for prosthetic design, as our robot hand design process will be driven with goals of simplicity in design and ability to perform tasks from everyday life.

这个奖项是根据2009年美国复苏和再投资法案(公法111-5)资助的。机器人领域的重大挑战之一是实现灵巧性，特别是操纵的灵巧性。这个项目资助的设备是什么？机器人躯干、双臂和定制设计的机器人手支持操作任务的调查，特别关注双手灵巧的操作。主要项目包括(1)从人类演示中转移双手操作任务和(2)针对非主导机械手的特定应用领域的设计。对于任务转移，这个项目探索了任务理解、计划和学习以及直接用户交互的组合，遵循了我们之前研究的单手抓握和操纵的路线。对于手的设计，这个项目追求设计优化，以开发出尽可能简单的机器手，能够完成一系列日常任务，作为非优势手操作。这种方法承诺对所需的手的自由度数量、所需的驱动马达的数量、所需的传感以及手的关键但经常被忽略的部位的几何形状有新的见解。我们认为，只有对一个人选择以某种方式执行一项任务的原因有了很大了解，我们才能成功地将一项任务从人类演示转移到机器人执行。我们提议的机械手设计项目对假肢设计也有很大的影响，因为我们的机械手设计过程将以简化设计和执行日常生活任务的能力为目标。