Human robot interation

这项提案要求提供资金购买一个类人机器人，以促进认知机器人一般领域的研究。研究目标是开发人-机器人交互(HRI)研究计划，并证明在工业环境中使用它们的可行性。根据HRI，预计将在几个领域开展研究，即基于行为的人形机器人控制、通过手眼协调的监督学习、人形环境建模和本地化以及多机器人协调和控制。类人的行为调节包括在学习人类活动(或行为)的同时形成行为，并将其转化为一系列姿势，以产生类人手部和腿部的关节运动。本研究的第二个目标是通过交互手眼协调来研究监督学习，从而使类人机器人以合作的方式执行高水平的任务。这涉及到基于视觉感知和行为的控制，用于人形手臂的轨迹规划。第三个问题与环境建模和本地化有关。提出的研究重点是开发利用视觉感知进行定位的仿人系统跟踪技术。新的认知控制体系结构将被开发来促进多机器人和仿人机器人的协调控制。这里提出的设备是为了扩展移动机器人的一个新的研究领域。目前，纪念大学的智能系统实验室有能力从事先进的机器人相关研究。增加一个移动人形系统将使该实验室能够使用最先进的设备进行研究，特别是在与新兴技术相关的领域培养高素质的人员。申请者有足够的研究背景来推动智能系统的主要研究课题，增加这种设备将是迈向工业下一代机器人技术的重要一步。

This proposal requests funding to purchase a humanoid robot to facilitate research in general area of cognitive robotics. The research objectives are to develop a human robot interaction (HRI) research program and to demonstrate feasibility of using them in industrial settings. Under the HRI it is expected to develop research in several areas, namely, behaviour based control of humanoid robots, supervised learning through hand/eye coordination, humanoid environment modelling and localization and multi-robot coordination and control.  The initial research is directed towards underground mining and food processing. The behaviour modulation for humanoid includes formation of behaviours while learning from human activities (or behaviours) and translation them in to a sequence of poses to produce joint motions for hands and legs of a humanoid. The second goal of this research is to investigate supervised learning through interactive hand/eye coordination and thereby execution of high level task by humanoids in a cooperative manner. This involves visual perception and behaviour based control for trajectory planning of the humanoid arms. The third issue is related to environment modelling and localization. The proposed research focuses on developing tracking techniques for humanoid system to localize using visual perception. Novel cognitive control architectures will be developed to facilitate coordinated control of multiple robots and humanoids.The equipment proposed here is to extend a new area of research in mobile robotics. Currently the Intelligent Systems Lab at Memorial University has the capacity to work on advanced robotics related research. Addition of a mobile humanoid system would allow this laboratory to perform research using state of the art equipment, particularly to produce highly qualified personnel in areas related to emerging technologies. The applicants have sufficient research background to facilitate major research topics in intelligent systems and addition of this equipment will be a major step towards next generation robotics for industry.