II-EN: Mobile Manipulation

II-EN: 移动操控

• 批准号: 0855210
• 负责人: Maxim Likhachev
• 金额: $ 29.81万
• 依托单位: University of Pennsylvania
• 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: 2009-09-01 至 2011-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0855210&HistoricalAwards=false
• 关键词: II; EN; Mobile; Manipulation

This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5).This project provides infrastructure to the University of Pennsylvania to build from their existing work into the area of mobile manipulation.The GRASP Lab is an internationally recognized robotics research group at the University of Pennsylvania. It hosts 14 faculty members and approximately 60 Ph.D. students from the primary departments of Computer and Information Science (CIS), Electrical and Systems Engineering (ESE), and Mechanical Engineering and Applied Mechanics (MEAM). GRASP recently launched a multidisciplinary Masters program in Robotics and involves these students, as well as many Penn undergrads, in its research endeavors. The research conducted by the members of the GRASP laboratory includes such areas as vision, planning, control, multi-agent systems, locomotion, haptics, medical robotics, machine learning and modular robotics. This proposal requests funding for instruments that would enable us to broaden our research to include the important new area of mobile manipulation. An increasing amount of research in robotics is being devoted to mobile manipulation because it holds great promise in assisting the elderly and the disabled at home, in helping workers with labor intensive tasks at factories, and in lessening the exposure of firemen, policemen and bomb squad members to dangers and hazards. As concluded by the NSF/NASA sponsored workshop on Autonomous Mobile Manipulation (AMM) in 2005, the technical challenges critically requiring the attention of researchers are:? dexterous manipulation and physical interaction? multi-sensor perception in unstructured environments? control and safety near human beings? technologies for human-robot interaction? architectures that support fully integrated AMM systems The researchers at GRASP fully support these recommendations and want to help lead the way in addressing them. Though GRASP conducts a great deal of research on similar challenges in related areas, this group has not worked on the unique and potentially transformative topic of mobile manipulation. The primary inhibitor to pursuing these challenges is that research in mobile manipulation critically depends on the availability of adequate experimental platforms. This group is requesting funding that would allow them to acquire such equipment. In particular, this group is requesting funding for (a) one human-scale mobile manipulator consisting of a Segway base, Barrett 7-DOF arm, and 3-fingered BarrettHand equipped with tactile sensors and a visual sensing suite; and (b) four small Aldebaran Robotics NAO humanoid robots capable of locomotion and manipulation. These instruments will allow the GRASP community to perform research in such areas as autonomous mobile manipulation, teleoperated mobile manipulation, navigation among people, bipedal locomotion, and coordination of multiple mobile manipulation platforms. Advances in this area are beneficial to society in a variety ways. For example, mobile manipulation is one of the most critical areas of research in household robotics, which aims at helping people (especially the elderly and the disabled) with their chores. Mobile manipulators will also see great use in office and industrial settings, where they can exibly automate a huge variety of manual tasks.

该奖项是根据2009年美国复苏和再投资法案（公法111-5）资助的。该项目为宾夕法尼亚大学提供基础设施，以从他们现有的工作建立到移动的操纵领域。GRASP实验室是宾夕法尼亚大学国际公认的机器人研究小组。它拥有14名教师和大约60名博士。来自计算机和信息科学（CIS），电气和系统工程（ESE），机械工程和应用力学（MEAM）的主要部门的学生。GRASP最近推出了一个多学科的机器人硕士课程，并涉及这些学生，以及许多宾夕法尼亚大学的本科生，在其研究工作。GRASP实验室成员进行的研究包括视觉、规划、控制、多智能体系统、运动、触觉、医疗机器人、机器学习和模块化机器人等领域。该提案要求为能够使我们扩大研究范围的工具提供资金，以包括移动的操纵这一重要的新领域。越来越多的机器人研究致力于移动的操作，因为它在帮助家中的老人和残疾人，帮助工厂的劳动密集型任务的工人，以及减少消防员，警察和炸弹小组成员暴露于危险和危害方面具有很大的前景。2005年，NSF/NASA赞助的自主移动的操纵（AMM）研讨会得出结论，迫切需要研究人员关注的技术挑战是：灵巧的操作和身体的互动非结构化环境中的多传感器感知？控制和安全吗人机交互技术GRASP的研究人员完全支持这些建议，并希望在解决这些问题方面发挥带头作用。虽然大型类人猿生存项目在相关领域对类似的挑战进行了大量的研究，但该小组尚未研究移动的操纵这一独特的、具有潜在变革意义的主题。追求这些挑战的主要抑制因素是移动的操纵研究严重依赖于足够的实验平台的可用性。这一团体要求提供资金，使他们能够获得这种设备。特别是，该小组正在申请资助：（a）一个人类规模的移动的机械手，包括一个赛格威基地，巴雷特7自由度手臂，3指BarrettHand配备触觉传感器和视觉传感套件;和（B）四个小型Aldebaran Robotics NAO人形机器人能够运动和操纵。这些仪器将使大型类人猿生存项目社区能够在诸如自主移动的操纵、遥控移动的操纵、人与人之间的导航、双足运动以及多个移动的操纵平台的协调等领域进行研究。这一领域的进步以各种方式有益于社会。例如，移动的操作是家用机器人研究中最关键的领域之一，其目的是帮助人们（特别是老年人和残疾人）做家务。移动的机械手也将在办公室和工业环境中得到很大的应用，在这些环境中，它们可以灵活地自动化各种各样的手动任务。