NRI: Large: Collaborative Research: Human-robot Coordinated Manipulation and Transportation of Large Objects

在人类和类人能力互补的激励下，这项建议的目标是发展实现人-机器人协作对象操作和运输所需的科学技术。这项研究试图促进的关键概念是在最少的交流下对人类活动的适应性，以及对环境中的可变性和不确定性的稳健性，通过对现有信息的分层表示和刻意处理来实现。此外，该项目旨在最大限度地利用最少的传感器来规划和控制机器人的行动，同时确保安全和高效的合作运输。这项研究的具体体现是一个类人同事，在帮助一个人搬运物体时，他承担着大部分的负荷，而不需要过多的交流，也不需要人类的事先培训。通过介绍半结构化环境中人-机器人物理协作的具体方法，这个项目实现了机器人和人类之间独特的协同，有可能提高生产率，减少事故和伤害。在这样做的同时，它还促进了机器人在建筑、制造、物流和家居服务中的新实际应用的推进。通过为类人机器人和移动机械手开发开源、便携的算法，这一努力为机器人领域的研究人员、开发人员、教育工作者和最终用户节省了成本和时间。最后，通过积极的教育和社区外展计划，并通过积极吸引K-12学生参加激动人心的Robotech研究员计划，该项目寻求增加多样性并吸引代表不足的群体加入STEM。

Motivated by the complementary abilities of humans and humanoids, the objective of this proposal is to develop the science and technology necessary for realizing human-robot cooperative object manipulation and transportation. The key concepts that this research seeks to promote are adaptability to human activity under minimal communication, and robustness to variability and uncertainty in the environment, achieved through a layered representation and deliberate processing of the available information. Moreover, this project aims to make maximum use of a minimal set of sensors to plan and control the actions of the robot, while ensuring safe and efficient cooperative transportation. The embodiment of this research is a humanoid co-worker that bears most of the load, when helping a person to carry an object, without requiring excessive communication, or prior training on the part of the human.By introducing concrete methods for human-robot physical collaboration in semi-structured environments, this project enables a unique synergy between robots and humans that has the potential to increase productivity, and reduce accidents and injuries. In doing so, it also promotes the advancement of new practical applications of robots in construction, manufacturing, logistics, and home services. By developing open-source, portable algorithms for humanoid robots and mobile manipulators, this effort results in cost and time savings for researchers, developers, educators, and end-users in robotics. Finally, through an aggressive educational and community outreach plan, and by actively engaging K-12 students in an exciting RoboTech Fellows program, this project seeks to increase diversity and attract underrepresented groups to STEM.