NRI-Large: Collaborative Research: Multilateral Manipulation by Human-Robot Collaborative Systems

这个项目解决了大量的操作问题，这些问题对人类来说是重复的、造成伤害的或危险的，但目前使用纯粹的自主机器人是不可能可靠地实现的。这些问题通常需要灵巧、复杂的感知和复杂的物理交互。然而，许多这样的问题可以通过人/机器人协作(HRC)系统可靠地解决，其中一个或多个人类提供所需的感知和适应性，与一个或多个机器人系统合作，这些系统在适当的范围内提供速度、精度、精度和灵活性，结合这些互补的能力。该项目专注于多边操作，当人类与一个或多个额外的控制器(人类或自主代理)合作控制一个或多个机器人操作器时发生。手术和制造中的复杂操作可以受益于两只以上的手提供的额外自由度，而培训往往依赖于专家和学徒之间的动手互动。应用的例子包括外科手术，这通常涉及几名医生和助手，以及其他医疗任务，如在床上为患者翻身，包裹石膏以约束手。多边操作也适用于制造，例如，穿线电线或电缆，对齐垫圈以获得紧密的密封，并在许多家庭情况下，如折叠桌布，包装包裹，拉链超载手提箱，以便它们将适合在邪恶的设计头顶航空公司客舱。多边操作通常发生在可变形材料或具有六个以上自由度(DOF)的多关节物体上。材料中的额外自由度带来了诸如计算复杂性等挑战，但它们也可以通过冗余来适应微小的不一致性，并提供系统阻尼。该项目在外科和制造业的具体应用的指导下，推进了多边操纵的基础科学。广泛的影响：多边操纵系统有可能改善医疗保健，提高美国制造业的竞争力和产品质量，并为家庭中新的服务机器人应用打开大门。该项目将由一个由工业和医疗实践专家组成的咨询委员会指导。项目成果将通过年度会议讲习班、集成到机器人操作系统(ROS)等常见机器人软件环境中的开源软件工具以及研究人员的研究和课程网页传播，以鼓励将我们的方法纳入许多机构的研究项目和课程。推广计划、公共实验室参观和对少数族裔学生的指导将扩大未被充分代表的群体在工程学领域的参与。这些活动将鼓励参与STEM活动，并为学生和博士后研究人员提供指导经验。

This project addresses a large space of manipulation problems that are repetitive, injury-causing, or dangerous for humans to perform, yet are currently impossible to reliably achieve with purely autonomous robots. These problems generally require dexterity, complex perception, and complex physical interaction. Yet, many such problems can be reliably addressed with human/robot collaborative (HRC) systems, where one or more humans provide needed perception and adaptability, working with one or more robot systems that provide speed, precision, accuracy, and dexterity at an appropriate scale, combining these complementary capabilities.The project focuses on multilateral manipulation, which arises when a human controls one or more robot manipulators in partnership with one or more additional controllers (humans or autonomous agents). Complex operations in surgery and manufacturing can benefit from the extra degrees of freedom provided by more than two hands, and training often depends on hands-on interaction between expert and apprentice. Example applications include surgical operations, which typically involve several physicians and assistants, and other medical tasks such as turning a patient in bed and wrapping a cast to constrain a hand. Multilateral manipulation also applies in manufacturing, for example for threading wires or cables, aligning gaskets to obtain a tight seal, and in many household situations, such as folding tablecloths, wrapping packages, and zipping overfilled suitcases so they will fit inside diabolically-designed overhead airline compartments. Multilateral manipulation often arises with deformable materials or multi-jointed objects with more than six degrees of freedom (DOF). The extra DOFs in materials introduce challenges such as computational complexity, but they also can accommodate minor inconsistencies through redundancy and provide system damping. This project advances the fundamental science of multilateral manipulation guided by specific applications from surgery and manufacturing.Broader Impacts: Multilateral manipulation systems have the potential to improve healthcare, improve American competitiveness and product quality in manufacturing, and open the door to new service robot applications in the home. The project will be guided by an Advisory Board of experts from industry and medical practice. Project results will be disseminated through yearly conference workshops, open-source software tools integrated into common robotics software environments such as Robot Operating System (ROS), and the investigators' research and course webpages, to encourage integration of our approach into research projects and courses at many institutions. Outreach programs, public lab tours, and mentoring of minority students will broaden participation of underrepresented groups in engineering. These activities will encourage participation in STEM activities and provide student and postdoctoral researchers with mentoring experience.