Collaborative Research: Self-Identification for Robot Manipulation under Uncertainty Aided by Passive Adaptability

协作研究：被动适应性辅助的不确定性下机器人操纵的自我识别

• 批准号: 2133110
• 负责人: Kaiyu Hang
• 金额: $ 39.9万
• 依托单位: William Marsh Rice University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-03-01 至 2025-02-28
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2133110&HistoricalAwards=false
• 关键词: Collaborative; Research; Self; Identification; Robot

This grant supports research that will contribute novel knowledge at the intersection of robotic manipulation and active perception, promoting both the progress of science and the advancement of national prosperity. To enable general-purpose robots that can offer sophisticated physical interactions with the world, the capability of robots to work under limited perception is essential. However, as traditional approaches sequentially formulate perception and manipulation into decoupled system components, robot manipulation skills have been passively constrained by the perception system. This award supports research to establish a new paradigm for enabling the interactions between perception and manipulation, and will fundamentally transform the roles of both to actively facilitate each other. The key concept, termed as self-identification, is a process where robots start to manipulate objects without full knowledge of the system, or even of itself, while in the meantime creating opportunities for the perception component to acquire necessary information that were impossible otherwise. In turn, the manipulation capability is significantly upgraded with the extra information obtained. As this new ability can improve many real-world robot applications, such as industrial production, household services, and healthcare applications, the results from this research will benefit the U.S. economy and society. This research involves several topics ranging from computer science, mechanical engineering, and sensor technology, to control theory and artificial intelligence. The multi-disciplinary framework will broaden the participation of underrepresented groups and positively impact the engineering education.This project leverages various types of passive (or low-level) adaptability in robot manipulators, especially that coming from mechanical compliance (springs or soft structures), low-level impedance control, or underactuated mechanisms, to allow the robot to conduct exploratory motions that are externally observed and used within an adaptive estimation scheme to self-identify the system. The robot-object-environment system will be actively reconfigured while maintaining the desired states and stability in an essentially open-loop way, while external observations of these changes are used to generate online estimations and controllers. Essentially, it changes the traditional paradigm from “sense, plan, act” to “act, sense, plan”, with an emphasis on efficient and effective task execution under limited sensing. The research team will establish generic self-identification frameworks for model-complete, model-incomplete, and model-free manipulation systems to: 1) compensate for limited perception abilities, where needed, to accomplish tasks that are traditionally infeasible; 2) maximize their perception capabilities to further improve the system’s task-awareness and robustness; and 3) incorporate the results or the entire process of self-identification into manipulation planning and control to enable robust manipulation under physical and sensing limitations.This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).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.

这笔赠款支持将在机器人操纵和主动感知交叉领域贡献新知识的研究，从而促进科学进步和国家繁荣。为了使通用机器人能够与世界提供复杂的物理交互，机器人在有限感知下工作的能力至关重要。然而，由于传统方法将感知和操纵依次形成解耦的系统组件，机器人的操纵技能被动地受到感知系统的限制。该奖项支持研究建立一种新的范式，以实现感知和操纵之间的相互作用，并将从根本上改变两者的角色，以积极促进彼此。被称为自我识别的关键概念是机器人在不完全了解系统甚至自身的情况下开始操纵物体的过程，同时为感知组件创造机会获取必要的信息，否则这是不可能的。反过来，随着获得的额外信息，操纵能力显着提升。由于这种新能力可以改善许多现实世界的机器人应用，例如工业生产、家庭服务和医疗保健应用，因此这项研究的结果将有利于美国经济和社会。这项研究涉及计算机科学、机械工程、传感器技术、控制理论和人工智能等多个主题。多学科框架将扩大代表性不足群体的参与，并对工程教育产生积极影响。该项目利用机器人机械手的各种类型的被动（或低水平）适应性，特别是来自机械顺应性（弹簧或软结构）、低水平阻抗控制或欠驱动机构的适应性，使机器人能够进行外部观察和内部使用的探索性运动。 用于自我识别系统的自适应估计方案。机器人-物体-环境系统将被主动重新配置，同时以基本上开环的方式保持所需的状态和稳定性，同时对这些变化的外部观察用于生成在线估计和控制器。本质上，它将传统范式从“感知、计划、行动”转变为“行动、感知、计划”，强调有限感知下高效、有效的任务执行。研究团队将为模型完整、模型不完整和无模型操纵系统建立通用的自我识别框架，以：1）在需要时补偿有限的感知能力，以完成传统上不可行的任务； 2）最大化其感知能力，进一步提高系统的任务感知能力和鲁棒性； 3）将自我识别的结果或整个过程纳入操纵规划和控制中，以实现在物理和传感限制下的鲁棒操纵。该项目得到了机器人学跨部门基础研究计划的支持，该计划由工程理事会（ENG）和计算机与信息科学与工程理事会（CISE）共同管理和资助。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。

项目成果

Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation

灵巧手操纵的非参数自辨识与模型预测控制

• DOI: 10.1109/iros55552.2023.10341520
• 发表时间: 2023
• 期刊: IEEE
• 作者: Chanrungmaneekul, Podshara;Ren, Kejia;Grace, Joshua T.;Dollar, Aaron M.;Hang, Kaiyu
• 通讯作者: Hang, Kaiyu

Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons

通过运动动力学规划和动态规划视野进行基于重排的操纵

• DOI: 10.1109/iros47612.2022.9981599
• 发表时间: 2022
• 期刊: IEEE
• 作者: Ren, Kejia;Kavraki, Lydia E.;Hang, Kaiyu
• 通讯作者: Hang, Kaiyu

Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation

用于基于重排的不可理解操纵的运动动力学快速探索随机森林

• DOI: 10.1109/icra48891.2023.10161560
• 发表时间: 2023
• 期刊: IEEE
• 作者: Ren, Kejia;Chanrungmaneekul, Podshara;Kavraki, Lydia E.;Hang, Kaiyu
• 通讯作者: Hang, Kaiyu