CI-P: Physical robotic manipulation test facility

CI-P：物理机器人操纵测试设施

• 批准号: 1730126
• 负责人: Cindy Grimm
• 金额: $ 10万
• 依托单位: Oregon State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-09-01 至 2019-11-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1730126&HistoricalAwards=false
• 关键词: CI; Physical; robotic; manipulation; test

The robotics community has a rich history of research and development in teaching and training robots to pick up and manipulate objects. However, it has proven to be very difficult to transition this research from structured laboratory settings to real world settings, such as homes, small-scale industrial settings, and search and rescue domains. The development of large-scale, standardized testing and benchmarking of robotic manipulation approaches is necessary to move robotic manipulation from the research lab to the real world. Placing the burden of conducting these tests on every individual robotics researcher is inefficient, at best. Cleaning the captured data to make it available to other researchers requires additional work for the producers of the data - and even more work on potential users. All of this impedes progress for the community as a whole, and makes it difficult to bring to bear recent developments in deep learning. This project addresses this problem by setting the groundwork for a dedicated physical robotic grasping and manipulation testbed infrastructure that can be remotely accessed and operated by anyone doing research in this area. This testbed will provide several critical components that the robotics grasping and manipulation community needs: (i) "Test suites" that enable repeated testing and controlled manipulation of several variables that have confounded robotic grasping and manipulation research. Variables include object and gripper material properties, compliance, force/torque of physical interaction, mass of manipulator elements and the objects, surface texture, low-level control algorithms, and higher-level planning techniques. (ii) Extensive instrumentation to capture (nearly) all aspects of the physical interaction, such as the forces, kinematics of movement, and three-dimensional geometry. (iii) A modular and customizable human-robot interface for enabling robotic physical interaction. Users will be able to directly control the robot using low-level interfaces, such as the knobs that control the movements of individual joints, or use higher-level interfaces that encapsulate robot-object interactions, such as close the fingers until they contact the object. (iv) Data collection, where the data will be made publicly available in a standardized form. The focus of this planning activity is to develop the necessary technological elements to prove the feasibility of such a test facility (automated object return in a fully instrumented space, a fully instrumented "door" to evaluate opening and closing doors) and to evaluate the community's needs in this area.

机器人社区在教学和训练机器人拾取和操纵物体方面有着丰富的研究和开发历史。然而，事实证明，将这种研究从结构化的实验室环境过渡到真实的世界环境是非常困难的，例如家庭、小规模工业环境以及搜索和救援领域。大规模的，标准化的测试和基准的机器人操作方法的发展是必要的移动机器人操作从研究实验室到真实的世界。把进行这些测试的负担放在每个机器人研究人员身上，充其量是效率低下的。清理捕获的数据以使其可供其他研究人员使用需要数据生产者进行额外的工作-甚至需要潜在用户进行更多的工作。所有这些都阻碍了整个社区的进步，并使其难以承担深度学习的最新发展。该项目通过为专用的物理机器人抓取和操作测试平台基础设施奠定基础来解决这个问题，该基础设施可以由在该领域进行研究的任何人远程访问和操作。 该试验台将提供机器人抓取和操纵社区所需的几个关键组件：（i）“测试套件”，能够对混淆机器人抓取和操纵研究的几个变量进行重复测试和受控操纵。 变量包括对象和夹持器材料属性、顺应性、物理相互作用的力/扭矩、操纵器元件和对象的质量、表面纹理、低级控制算法和高级规划技术。(ii)广泛的仪器，以捕捉（几乎）所有方面的物理相互作用，如力，运动学和三维几何。 (iii)模块化和可定制的人机界面，用于实现机器人物理交互。 用户将能够使用低级接口直接控制机器人，例如控制单个关节运动的旋钮，或者使用封装机器人-对象交互的高级接口，例如闭合手指直到它们接触到对象。 (iv)数据收集，数据将以标准化形式公开提供。这一规划活动的重点是开发必要的技术要素，以证明这种试验设施的可行性（在装有全套仪器的空间中自动返回物体，装有全套仪器的“门”，以评估门的打开和关闭），并评估社区在这一领域的需要。

项目成果

Grasping Objects Big and Small: Human Heuristics Relating Grasp-Type and Object Size

抓取大大小小的物体：有关抓取类型和物体大小的人类启发法

• DOI: 10.1109/icra.2018.8460860
• 发表时间: 2018
• 期刊: IEEE International Conference on Robotics and Automation
• 作者: Kothari, Ammar;Morrow, John;Thrasher, Victoria;Engle, Kadon;Balasubramanian, Ravi;Grimm, Cindy
• 通讯作者: Grimm, Cindy

Near contact grasping strategies from awkward poses When simply closing your fingers is not enoug

尴尬姿势下的近距离接触抓取策略 当简单地合上手指还不够时

• 发表时间: 2019
• 期刊: Proceedings of the International Conference on Intelligent Robots and Systems
• 作者: Ong, Yi Herng;Morrow, John;Qui, Yu;Gupta, Kartik;Balasubramanian, Ravi;Grimm, Cindy
• 通讯作者: Grimm, Cindy

Identifying Gender Differences in Information Processing Style, Self-efficacy, and Tinkering for Robot Tele-operation

识别信息处理风格、自我效能和机器人远程操作修补方面的性别差异

• DOI: 10.1109/urai.2018.8441766
• 发表时间: 2018
• 期刊: 2018 15th International Conference on Ubiquitous Robots (UR
• 作者: Showkat, Dilruba;Grimm, Cindy
• 通讯作者: Grimm, Cindy