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

近年来，类人机器人经历了一个操作能力急剧增加的转变阶段。然而，这种技术的使用一直被限制在低速运行，使用在现实世界场景中部署此类系统的有限而有效的工具来处理小负载。 用于社会和任务驱动研究应用的人形机器人项目正在人-机器人交互(HRI)开发工作的一般背景下进行。该项目将获得最先进的人类大小的人形机器人，以利用加拿大现有设备无法实现的具有新颖控制、软件和生物系统及架构的驱动系统的使用。 主要项目的目标有两个：a)减少传统控制工程中典型的对象和控制器之间的区别，以充分利用复杂的物体特性，以及b)简化感知、控制和学习，以探索如何利用新的机器人系统和体系结构来实现更安全的人类机器人交互、降低能源消耗和简化控制。 所需设备的重点和使用在于在人类环境中与用户密切合作的高速/扭矩机器人的动态分析、HRI软件和控制。应用领域包括搜索和救援、医疗保健以及采矿和制造等工业应用。 人形机器人项目是卡尔加里大学舒利希工程学院(机械、电气)、理学院以及与医学院和当地医院合作的一个项目。 其目的是开发直观的软件和控制系统，通过直观的编程界面安全地操作机器人。例如，这项工作将帮助类人机器人在操纵复杂物体的同时，在多层和多房间环境中高速导航的机械设计和技术生成。 该设备将促进以机器人为中心的方法的使用，例如基于视觉的和反馈控制方法，用于3D环境建模以及操作和导航。 将获得的人形躯干机器人将使我们的协作团队能够进一步探索与机器人互动的社会方面的基本问题，同时进一步开发下一代控制机制，以实现更安全的HRIS。所需设备Thormang3人形机器人是目前最有能力但最实惠的人形机器人之一，使其能够融入各种人力资源倡议任务，在很大程度上使用与人相同的环境、环境和工具。该设备在加拿大将是独一无二的，将支持和扩展卡尔加里大学目前由来自不同部门的不同研究人员进行的、改变游戏规则的研发活动。

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.