MRI-R2: Development of Common Platform for Unifying Humanoids Research

“这项奖励是根据2009年美国复苏和再投资法案（公法111-5）资助的。”提案号：09-60061PI(s): Kim, Youngmoo E., Gogotsi, Yury, Hong, Dennis H., Regli, William C., Schaal， StefanInstitution: Drexel university标题：开发用于统一类人研究的通用平台项目建议：该项目开发和传播HUBO+，一种新的通用类人研究平台仪器，在使用通用仪器的同时，为未来的研究工作提供了新的和以前不可实现的功能。HUBO将是第一个同质的、全尺寸的人形机器人，用作通用的研究和教育平台。八所大学（德雷克塞尔大学，CMU，麻省理工学院，俄亥俄州立大学，宾夕法尼亚大学，普渡大学，南加州大学和VaTech），代表了美国人形研究的关键质量，参与了世界上第一个同质的全尺寸人形团队的开发。基于独特的专业知识，这项工作扩展了目前的能力，产生了六个相同的单元，促进了机器人技术的以下潜在变革进展：-最先进的，标准化的类人平台仪器，具有嵌入式传感，操纵和快速运动功能，是未来广泛的类人研究的理想选择。直接比较和跨验证算法和方法，并在研究团队之间一致地对结果进行基准测试-用于移动机器人的新型能量存储技术，包含需要高功率密度的超级电容器，远远超过传统电池电源的能力-广泛分布的平台，激励，招募和培训广泛的学生跨越多个学科，包括人工智能，数字，类人机器人，即模仿人类形态和运动的机器人，为跨越多个领域的跨学科研究开辟了广阔的途径，如机械控制、人工智能和电力系统。普通的类人机器人很少是自主的，而且还没有准备好与人类进行不受约束的互动。最引人注目的演示是精心预先编程和精心编排的。一些通用平台已经推进了一些研究。因此，拥有一个一致的平台应该有助于在自主性和自然交互所需的领域取得快速进展，包括移动性、操纵、机器人视觉、语音通信、认知和学习。然而，尽管目前日本和韩国被认为是设计和建造类人机器人的世界领导者，但建造多个相同的类人机器人的最佳实践尚未开发出来。这些条件要求制定一个急需的基准，提供评估和结果的交叉验证。随着这一发展和6个类人机器人的服务，该项目旨在为机器人研究创造知识和最佳实践，可能导致无处不在的标准化。更广泛的影响：该仪器使美国研究人员能够开发设计和建造类人机器人的专业知识，而工作活动的分布确保了知识的广泛传播。类人研究，本质上是跨学科和综合性的，激励着年轻的学生。参与的研究生和本科生可能会接受世界一流的机器人技术培训。包括几家知名博物馆在内的外展合作伙伴将向所有年龄段的人介绍令人兴奋的机器人技术，特别是在招募K-12学生进入科学、工程、数学等领域时非常有用。与科学领导学院（SLA）的合作伙伴关系确保了他们的参与，这是一所拥有超过63%未被充分代表的学生的磁铁学校。通过SLA，该项目启动了一个以nasa风格的实验设计竞赛为模型的年度项目，学生们使用模拟工具提出类人项目和活动。入选的获奖者将在HUBO上实施他们提出的项目。

"This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5)." Proposal #: 09-60061PI(s): Kim, Youngmoo E., Gogotsi, Yury, Hong, Dennis H., Regli, William C., Schaal, StefanInstitution: Drexel UniversityTitle: Development of Common Platform for Unifying Humanoids ResearchProject Proposed: This project, developing and disseminating HUBO+, a new common humanoid research platform instrument, enables novel and previously infeasible capabilities for future research efforts while working with a common instrument. HUBO will be the first homogeneous, full-sized humanoid to be used as a common research and education platform. Eight universities (Drexel, CMU, MIT, Ohio State, Penn, Purdue, Southern California, and VaTech), representing a critical mass of humanoids research within US, participate in this development of the world's first homogeneous full-sized humanoid team. Building upon unique expertise, the work extends current capabilities, resulting in six identical units, facilitating the following potentially transformative advances in robotics:- A state-of-the-art, standardized humanoid platform instrument with embedded capabilities for sensing, manipulation, and rapid locomotion, ideal for a broad range of future humanoids research- The ability, for the first time, to directly compare and across validate algorithms and methodologies and consistently benchmark results across research teams- Novel energy storage technology for mobile robotics incorporating supercapacitors for operations requiring high power density, far exceeding the capabilities of traditional battery-only power sources- A widely distributed platform that motivates, recruits, and trains a broad range of students spanning multiple disciplines, including artificial intelligence, digital, signal processing, mechanics, and controlHumanoids, robots engineered to mimic human form and motion, open broad avenues of cross disciplinary research spanning multiple fields, such as mechanical control, artificial intelligence, and power systems. Common humanoids are rarely autonomous and are not-ready for unconstrained interaction with humans. The most compelling demonstrations are meticulously pre-programmed and painstakingly choreographed. A few common platforms have already advanced some research. Hence, having a consistent platform should facilitate rapid progress in areas needed for autonomy and natural interaction, including mobility, manipulation, robot vision, speech communication, and cognition and learning. However, although currently Japan and Korea are considered world leaders in design and construction of humanoids, best practices have not been developed for constructing multiple, identical humanoids. These conditions call for the making of an urgently needed benchmark providing evaluations and cross-validation of results. With this development and the servicing of 6 humanoids, this project aims to create knowledge and best practices contributing to robotics research, possibly leading to the standardization needed for ubiquity.Broader Impacts: The instrument enables US researchers to develop expertise in the design and construction of humanoids, while the distribution of the work activities ensures the broad dissemination of the knowledge. Humanoids research, inherently interdisciplinary and integrative, inspires young students. The graduate and undergraduates students participating are likely to receive a world-class training in robotics. Outreach partners, including several high-profile museums will introduce people of all ages to the exciting technologies of robotics, particularly useful in recruiting K-12 students into science, engineering, mathematics, etc. A partnership with the Science Leadership Academy (SLA), a magnet school with more than 63% underrepresented students, assures their involvement. With SLA, the project initiates an annual program modeled on a NASA-style experiment design competition, in which students use simulation tools to propose humanoids projects and activities. Selected winner(s) will have their proposed projects implemented on HUBO.