权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

CAREER: Remote Control of Humanoid Robot Locomotion using Human Whole-body Movement and Mutual Adaptation

职业：利用人体全身运动和相互适应来远程控制人形机器人运动

基本信息

批准号：
2043339
负责人：
Elizabeth Hsiao-Wecksler
金额：
$ 73.69万
依托单位：
University of Illinois at Urbana-Champaign
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2021
资助国家：
美国
起止时间：
2021-04-01 至 2026-03-31
项目状态：
未结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2043339&HistoricalAwards=false
关键词：
CAREER Remote Control Humanoid Robot

项目摘要

Agile teleoperation of legged robots through unstructured environments could enhance the capabilities of emergency responders such as firefighters. Consider the demanding physical task of manipulating an active hose while walking over uneven terrain. Delegating the task to a robot could be performed via direct teleoperation if the operator were to directly control the robot's entire body while experiencing the machine’s sense of balance and the interaction forces with the hose. Due to lags in perception-action coupling, the task can only be performed reliably if the robot can predict and adapt to human motion intent. Teleoperation of coordinated locomotion and manipulation therefore requires bilateral motor and mind synergy between human and robot. The goal of this Faculty Early Career Development Program (CAREER) project is to advance a fundamental understanding of teleoperated locomotion of a humanoid robot firefighter using whole-body force feedback and eye gaze intent detection. The project will advance the NSF mission to promote the progress of science and to advance national health, prosperity, and welfare by advancing a fundamental understanding of the complex dynamics that arise through the bidirectional physical interaction between human and robot agents during teleoperated locomotion. Activities planned to enhance the broader impacts of this research include efforts to enhance engineering education via active-learning activities, establish interactions with the general public, students, and professionals through outreach activities; and train the next generation of scientist leaders. This CAREER project advances a fundamental understanding of the novel dynamics that arise during bilateral whole-body teleoperation of the locomotion of a humanoid robot traversing unstructured environments. Direct human-in-the-loop control of locomotion via teleoperation is one way to endow robotic assistants with human-level motor skills for physical interaction. In this project, the human teleoperator uses their body to directly command the robot's locomotor while receiving force feedback through a novel torso-mounted interface. In contrast to conventional haptic interfaces that directly render to the operator the forces applied to the robot, the project's first research aim is to create a general mapping that renders also kinematic effect of perturbations. The second aim is to understand human motor adaptation to robot locomotion dynamics. The third aim is to achieve navigation on uneven terrain via a shared-autonomy framework in which the robot adapts to human locomotion intent by modifying its foot placement on the fly. The efficacy of the approach is evaluated through human subjects experiment. This work makes fundamental contributions to human whole-body haptics, biomechanics of locomotion, and control of legged robots.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

腿式机器人在非结构化环境中的敏捷远程操作可以增强消防员等紧急响应人员的能力。考虑到在不平坦的地形上行走时操纵活动软管的要求很高的体力任务。如果操作员直接控制机器人的整个身体，同时体验机器的平衡感和与软管的相互作用力，则可以通过直接遥操作将任务委托给机器人。由于感知-动作耦合的滞后，只有当机器人能够预测和适应人类运动意图时，任务才能可靠地执行。因此，协调运动和操纵的遥操作需要人与机器人之间的双边运动和思维协同。这个教师早期职业发展计划（CAREER）项目的目标是使用全身力反馈和眼睛凝视意图检测来推进对人形机器人消防员的遥控运动的基本理解。该项目将推进美国国家科学基金会的使命，以促进科学的进步和促进国家的健康，繁荣和福利，通过推进人类和机器人代理人之间的双向物理交互在远程运动过程中产生的复杂动态的基本理解。计划加强这项研究的更广泛影响的活动包括努力通过主动学习活动加强工程教育，通过推广活动与公众，学生和专业人士建立互动;并培养下一代科学家领导人。这个CAREER项目推进了对穿越非结构化环境的人形机器人运动的双边全身遥操作过程中出现的新动力学的基本理解。通过遥操作的直接人在回路运动控制是赋予机器人助手人类水平的运动技能以进行物理交互的一种方式。在这个项目中，人类遥操作员使用他们的身体直接命令机器人的运动，同时通过一个新颖的躯干安装接口接收力反馈。与直接向操作员呈现施加到机器人上的力的传统触觉接口相反，该项目的第一个研究目标是创建一个通用映射，该映射还呈现扰动的运动学效果。第二个目标是了解人类运动适应机器人运动动力学。第三个目标是通过共享自主框架实现在不平坦地形上的导航，在该框架中，机器人通过在飞行中修改其脚的位置来适应人类的运动意图。通过人体实验评估了该方法的有效性。这项工作为人类全身触觉学、运动生物力学和腿式机器人控制做出了重要贡献。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

期刊论文数量（6）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

HOPPY: An Open-source Kit for Education with Dynamic Legged Robots

HOPPY：用于动态腿式机器人教育的开源套件

DOI：
发表时间：
2021
期刊：
IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
0
作者：
Ramos, Joao;Ding, Yanran;Sim, Young-woo;Murphy, Kevin;Block, Daniel
通讯作者：
Block, Daniel

Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation

全身动态远程运动：人类步行参考生成的逐步动力学方法

DOI：
10.1109/humanoids57100.2023.10375168
发表时间：
2023
期刊：
IEEE-RAS 22nd International Conference on Humanoid Robots
影响因子：
0
作者：
Colin, Guillermo;Byrnes, Joseph;Sim, Youngwoo;Wensing, Patrick M.;Ramos, Joao
通讯作者：
Ramos, Joao

Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots

Tello Leg：动态人形机器人的设计原理和指标研究