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

NRI：大型：协作研究：大型物体的人机协调操纵和运输

• 批准号: 1328805
• 负责人: R. Vijay Kumar
• 金额: $ 70万
• 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: 2013
• 资助国家: 美国
• 起止时间: 2013-10-01 至 2019-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1328805&HistoricalAwards=false
• 关键词: NRI; Large; Collaborative; Research; Human

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.

受人类和类人机器人的互补能力的启发，本提案的目标是开发实现人机合作物体操纵和运输所需的科学和技术。本研究旨在促进的关键概念是在最低限度的沟通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鲁棒性，通过分层表示和对可用信息的故意处理来实现。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，同时确保安全有效的合作运输。 这项研究的具体体现是一个人形的合作者，承担大部分的负荷，当帮助一个人携带一个物体，而不需要过多的沟通，或预先培训的一部分，人类。通过引入具体的方法，人机物理协作在半结构化的环境中，该项目使机器人和人类之间的独特的协同作用，有可能提高生产力，减少事故和伤害。在此过程中，它还促进了机器人在建筑、制造、物流和家庭服务领域新的实际应用的发展。通过为人形机器人和移动的操纵器开发开源、便携式算法，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学生参加令人兴奋的RoboTech Fellows计划，该项目旨在增加多样性，吸引代表性不足的群体加入STEM。