RI Small: On Robot Motor Capability for Skill Learning

赋予类人机器人技能学习能力将使其能够多才多艺，熟练地执行各种任务。将人类技能转移到类人机器人的问题引起了人们对研究人类和机器人运动技能的巨大研究兴趣。我们的研究旨在开发一个定量的机器人运动能力的人形根电机系统的应用程序转移人类技能的人形机器人。 基于信息论的机器人运动能力的基本内在属性的深入研究将被执行，推导出一个伪电机性能指标。 这个伪电机性能指标是来自机器人运动学，动力学和控制的速度精度约束考虑在内。在速度精度约束下，机器人的电机性能被优化以完成任务。研究结果表明，增加了解机器人电机的能力，显示的能力和限制的机器人学习技能，从人类示范。该项目计划在现有的人形机器人上验证结果。该项目的成果将为类人机器人运动学习和控制提供新的见解，并在人类和机器人更好地了解各自的运动能力时，启动人机交互的新研究方向。 更广泛的影响包括将研究成果纳入现有的研究生和本科生机器人课程，以及为期一周的机器人夏令营和高中生实验室开放日的推广活动。 研究结果将在专业会议、讲习班和档案期刊出版物中传播。

Endowing humanoid robots with the ability of skill learning will enable them to be versatile and skillful in performing various tasks. The problem of transferring human skills to humanoid robots raises tremendous research interest in studying human and robot motor skills. Our research aims at developing a quantitative measure of robot motor capability of a humanoid root motor system for the application of transferring human skills to a humanoid robot. An in-depth study of basic intrinsic properties of robot motor capability based on information theory will be performed to derive a pseudo index of motor performance. This pseudo index of motor performance is derived from robot kinematics, dynamics, and control with the speed-accuracy constraint taken into consideration. With the speed-accuracy constraint, the motor performance of a robot is optimized to accomplish a task. The research results demonstrate an increased understanding of robot motor capability that shows the capability and limitation of a robot for learning skills from human demonstration. The project plans to verify the result on an existing humanoid robot. The project results will provide new insights in humanoid robot motor learning and control, and launch a new research direction on human-robot interaction when both humans and robots better know their respective motor capabilities. The broader impacts include incorporation of research results into existing graduate and undergraduate robotics courses, and outreach activities of a weeklong robotics summer camp and a lab open house for high-school students. The research results will be disseminated in professional conferences, workshops and archival journal publications.