Mobile Robotic Inspector: Learning to Explore and Manipulate in the Real World

牛津机器人研究所(ORI)和ETH之间的这项合作研究提案扩展了牛津正在进行的计划拨款中概述的嵌入式机器人智能的主题：从感知到协作，包括物理智能-特别是在接触丰富的环境中的动态操纵和适合在野外自然环境中自主的感知。我们提议与ETH苏黎世的Hutter博士和Cadena博士进行战略合作，他们是动态移动、操纵和导航领域的世界领先者，以及ETH的机器人中心-ETH的一个协调倡议，以在ETH和瑞士发展机器人技术。他们的机器人系统实验室(RSL)经常获得喝彩和认可，并已创建了6个衍生产品。还将与中心内的其他学者(如软机器人、自主性、控制)进行互动。ORI带来了状态估计和导航的感知、运动和操纵以及决策的深度学习方面的专业知识，而ETH在移动机器人、动态运动和控制方面有着良好的记录。我们将共同开发新的方法来应对动态机器人自主操作和导航的挑战。我们提出的项目分为两个研究链，将使用ANYmal四足机器人作为公共平台。第一个主题将聚焦于“数据驱动的感知和导航”，而第二个主题将聚焦于“移动平台的富触点操控”。我们与ETH一起设计了一个令人兴奋的交流计划，该计划将加强我们的合作，并受益于大量的行业支持。此外，我们计划主办一个独立的研讨会，以促进牛津大学和ETH之间的共同研究联系，以及另一个与主要机器人会议(IEEE ICRA，RSS)相关的公共外联活动。总之，拟议的合作提供了一个独特的机会，通过将我们计划拨款的前半部分的进展与ETH的世界级教师和实验室的专业知识配对，提供一个独特的机会，通过将我们计划拨款的前半部分的进展与ETH的世界级教师和实验室的专业知识相结合，共同探索非结构化自主和丰富联系人操纵的挑战。鉴于拟议研究的重要性与日俱增，我们提议的合作是及时的，而我们独特的专业知识组合有可能在英国学术界和一系列商业领域产生重大影响。我们提出了一项明确的研究和示范计划，涉及与核行业的几家公司和领先的四足机器人制造商的合作。该项目将在一个真正的核设施进行现场现场试验。

This collaborative research proposal between the Oxford Robotics Institute (ORI) and the ETH extends themes of embodied robotic intelligence outlined in Oxford's ongoing Programme Grant "Embodied Intelligence: From Sensing to Collaboration" to include physical intelligence - specifically dynamic manipulation in contact-rich environments and perception suitable for autonomy in wild, natural environments.We propose a strategic collaboration with Prof. Dr. Hutter and Dr. Cadena of ETH Zurich who are world leaders in dynamic locomotion, manipulation and navigation and ETH's Center for Robotics - a coordinated ETH initiative to grow robotics in ETH and Switzerland. Their Robot Systems Lab (RSL) regularly receives plaudits and recognition and has created 6 spin-outs. Interaction with other academics within the Center (e.g. soft robotics, autonomy, controls) is also envisaged.ORI brings expertise in perception for state estimation and navigation, deep learning for locomotion and manipulation and decision making, while ETH has a strong track record in mobile robotics, dynamic locomotion and control. Together, we will develop new approaches to address the challenges of autonomous manipulation and navigation with dynamic robots.Our proposed project is organised into two research strands, which will use the ANYmal quadruped robot as a common platform. The first strand will focus on 'Data-Driven Perception and Navigation ', while the second strand will focus on 'Contact Rich Manipulation for Mobile Platforms'. Together with ETH we have designed an exciting exchange programme that will strengthen our collaboration and benefit from substantive industry support. In addition, we plan to host a standalone symposium to promote the common research links between Oxford and ETH, and another public outreach event linked with one of the main robotics conferences (IEEE ICRA, RSS).In summary, the proposed collaboration presents a unique opportunity to collaboratively explore the challenges of unstructured autonomy and contact-rich manipulation by pairing advances from the first half of our programme grant with expertise from ETH's world class faculty and laboratories. Our proposed collaboration is timely, given the growingimportance of the proposed research, while our unique combination of expertise has the potential to have significant impact both in UK academia and in a range of business sectors. We propose a clear research and demonstration plan involving collaborations with several companies in the nuclear sector and the manufacturer of a leading quadruped robot. The project will conclude with live on-site trials at a real nuclear facility.