Humanoid Robot for Social and task related operational Human-Robot Interaction Research Applications

点击翻译按钮获取中文摘要

Humanoid robots have undergone a recent shift phase of dramatic increase in operational capability in recent years. However, the use of such technology has been limited to operate at slow speeds, manipulating small loads with somewhat limited and effective tools for deploying such systems in real-world scenarios. The humanoid robot project for social and task driven research applications, is being performed within the general context of Human-Robot Interaction (HRI) developmental work. The project will acquire a state of the art human size humanoid robot to exploit the use of actuation systems with novel control, software and biological systems and architecture not possible using equipment available in Canada. The main project’s goal are twofold: a) reduce the distinction between plant and controller that is typical in traditional control engineering to fully exploit complex body properties, and b) simplify perception, control and learning to explore how novel robotic systems and architectures can be exploited for safer human robot interaction, reduced energy consumption, and simplified control. The focus and the use of the required equipment lies on the dynamic analysis, HRI software, and control of high speed/torque robots acting in human environments and in close cooperation with users. Areas of applications include search & rescue, health care, and industrial applications such as mining & manufacturing. The humanoid robot program is a collaboration between a number of departments within the University of Calgary’s Schulich School of Engineering (Mech., Electrical), the Faculty of Science, and collaboration with the Faculty of Medicine and local hospitals. The aim is on developing intuitive software and control systems to safely operate robots via an intuitive programming interface. For example, the work will assist in the mechanical design and generation of techniques for humanoid robots navigating at high speeds in multi-level and multi-room environments while manipulating complex objects. The equipment will facilitate the use of robot centered methodologies such as vision-based and feedback control methods for 3D environment modeling as well as for manipulation and navigation. The humanoid torso robot to be acquired will allow our collaborative team to further probe fundamental questions that relate to social aspects of interaction with robots, while further developing the next generation of control mechanisms for safer HRIs. The required equipment, the Thormang3 humanoid, is one of the most capable humanoids currently available yet most affordable, allowing it to be integrated into various HRI tasks, using, to a large extent, the same settings, environments and tools as people do. The equipment will be unique in Canada and will support and extend the current and game changing R&D activities performed at University of Calgary by diverse researchers from different departments.