II-EN: Enhancing an Infrastructure with an Agile Dexterous Mobile Manipulator for Research on Dynamic Balance

II-EN：利用敏捷灵巧移动机械臂增强基础设施以进行动态平衡研究

• 批准号: 1629757
• 负责人: Ralph Hollis
• 金额: $ 66.56万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-09-01 至 2020-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1629757&HistoricalAwards=false
• 关键词: II; EN; Enhancing; Infrastructure; Agile

The project develops a test bed for exploring highly agile robot mobility in human environments such as an office or home, while also incorporating a highly dexterous ability for purposefully interacting with features in the environment such as opening doors, moving tables or furniture, and manipulating everyday objects. Mobile robots are poised to take increasingly important roles in our daily lives ranging from transporting materials in warehouses and hospitals, inventory management in retail stores, and applications in direct service to people including support and guidance in public spaces. Wheeled mobile robots currently lack the agility and dexterity needed for these kinds of tasks. The project enhances the CMU ballbot research platform, a first-of-its-kind capability previously developed under NSF funding. Ballbots are dynamically stable mobile robots, which balance and locomote on single spherical wheels. Unique advantages of the ballbot class of mobile robots include tall heights enabling human-robot interaction at eye level, a small footprint afforded by the single ball wheel, and omni-directional motion with intrinsic compliance. This combination of desirable features does not exist in traditional statically stable mobile robots. The project develops and adds a pair of 7-degree-of-freedom arms and hands to the CMU ballbot platform. The objective is to create an unprecedented capability for agile and dexterous mobile manipulation. Here, the term "agile" refers to the ballbot?s current ability to swiftly and smoothly move through the environment, while avoiding static and dynamic obstacles. The term "dexterous" refers to the ability to skillfully manipulate objects and interact with the environment. Reaching this compound goal is enabled in part by the creation of a pair of new lightweight but strong human-scale arms/hands for the ballbot and the requisite software to enable a wide range of future research.

该项目开发了一种试验台，用于在办公室或家庭等人类环境中探索高度灵活的机器人移动性，同时还融入了高度灵活的能力，可以有目的地与环境中的功能交互，如打开门、移动桌子或家具，以及操纵日常物品。移动机器人正准备在我们的日常生活中扮演越来越重要的角色，从仓库和医院的运输材料，零售店的库存管理，到直接服务于人们的应用，包括在公共场所的支持和指导。轮式移动机器人目前缺乏这类任务所需的敏捷性和灵活性。该项目增强了CMU球型机器人研究平台，这是之前在NSF资助下开发的首个此类能力。球型机器人是一种动态稳定的移动机器人，它在单个球形轮子上进行平衡和运动。球型机器人类移动机器人的独特优势包括高度高，可实现与眼睛水平的人与机器人交互，单个球轮提供的占地面积小，以及具有内在顺应性的全方位运动。这种理想特性的组合在传统的静态稳定移动机器人中是不存在的。该项目开发并在CMU球型机器人平台上增加了一对7自由度的手臂和手。其目标是创造一种前所未有的能力，实现灵活灵巧的移动操作。在这里，“敏捷”一词是指球型机器人？S目前的能力，即在环境中快速而平稳地移动，同时避开静态和动态障碍物。“灵巧”一词指的是熟练地操纵物体并与环境互动的能力。实现这一复合目标的部分原因是为球类机器人创造了一对重量轻但强壮的人类规模的新手臂/手，以及为未来的广泛研究提供必要的软件。