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.

该项目开发了一个测试平台，用于探索高度敏捷的机器人在人类环境中的移动性，如办公室或家庭，同时还结合了高度灵巧的能力，有目的地与环境中的功能进行交互，如开门，移动桌子或家具，以及操纵日常物品。移动的机器人将在我们的日常生活中扮演越来越重要的角色，从仓库和医院的材料运输，零售商店的库存管理，到直接为人们服务的应用，包括公共空间的支持和指导。 轮式移动的机器人目前缺乏这些类型的任务所需的敏捷性和灵活性。该项目增强了CMU球形机器人研究平台，这是先前在NSF资助下开发的首个同类能力。 球形机器人是动态稳定的移动的机器人，它在单个球形轮上平衡和移动。球形机器人类移动的机器人的独特优势包括高度高，能够在眼睛高度进行人机交互，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。传统的静态稳定的移动的机器人中不存在这种期望特征的组合。该项目为CMU球形机器人平台开发并添加了一对7自由度的手臂和手。其目标是创造一种前所未有的敏捷和灵巧的移动的操纵能力。在这里，术语“敏捷”是指球机器人？的当前能力，迅速和顺利地通过环境，同时避免静态和动态的障碍物。“灵巧”一词是指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形机器人创造了一对新的轻量级但强大的人类手臂/手，以及必要的软件，以实现广泛的未来研究。