Research and Development of Visual Perception and Manipulation in an Interactive Autonomous Robotic System

交互式自主机器人系统中视觉感知和操纵的研究与开发

• 批准号: RGPIN-2017-05762
• 负责人: Lang, Haoxiang
• 金额: $ 1.53万
• 依托单位: University of Ontario Institute of Technology
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638968
• 关键词: Research; Development; Visual; Perception; Manipulation

The proposed proposal for the program is to develop methodologies and technologies that will lead to precise manipulation of autonomous mobile robots in practical applications with dynamic interaction. The main contribution is set to improve the versatility, autonomy and dependability of current autonomous robotic systems, specifically in manipulation applications. In view of the needed capabilities for the ultimate objective, the scope of the proposed program spans four main research areas: 1. Machine vision, specifically real-time and robust object tracking and hand gesture understanding 2. Advanced force, tactile and vision control, 3. Machine learning, and 4. Sensor fusion. An overall architecture is proposed, containing three sub-systems: 1). Efficient visual tracking and motion estimation; 2). Interaction framework; and 3). Advanced control in manipulation.

该计划的拟议提案是开发方法和技术，从而在动态交互的实际应用中精确操纵自主移动机器人。主要贡献是提高当前自主机器人系统的多功能性、自主性和可靠性，特别是在操纵应用中。考虑到最终目标所需的能力，拟议项目的范围涵盖四个主要研究领域：1.机器视觉，特别是实时和强大的物体跟踪和手势理解2.先进的力、触觉和视觉控制，3.机器学习，4.传感器融合。提出了一个总体架构，包含三个子系统：1）。高效的视觉跟踪和运动估计； 2）。交互框架；和3）。先进的操控控制。