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

该计划的拟议提案是开发方法和技术，将导致在实际应用中与动态交互的自主移动的机器人的精确操纵。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，特别是在操作应用中。鉴于最终目标所需的能力，拟议计划的范围涵盖四个主要研究领域：1.机器视觉，特别是实时和鲁棒的对象跟踪和手势理解2。先进的力量，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，包括三个子系统：1）。有效的视觉跟踪和运动估计; 2）.互动框架;（3）。先进的操作控制。 在所提出的架构中，有效的视觉跟踪提供实时和鲁棒的目标跟踪和运动估计的结果，以基于视觉的控制。建议的交互框架包含一个知识库，描述的任务，和一个高层次的解释器，可以提供参考的姿势，力和触觉信息在一个给定的任务。此外，一个先进的控制系统将被开发，这将实现对齐的手相对于对象根据建议的姿势由高层次的任务解释器，和一个位置力触觉控制器，以提供强大的和稳定的操作过程中的接触。 该计划将导致创新的互动框架，自主机器人系统的操作，有效的光学跟踪运动和运动估计，和人类一样的操作，通过开发一个先进的位置力触觉控制器的互动框架。该计划的研究成果将在许多实际领域具有重要的应用潜力，包括搜索和救援，家庭护理和辅助机器人。开发的智能自主机器人适用于工业和日常生活，提高了工作效率，减少了人类的工作量，并有效执行需要重型机械的任务。预计所开发的技术将在机器人研究方面取得重大进展，特别是在感知、交互和操纵方面，并为自主机器人提供新的研究方向。

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. In the proposed architecture, the efficient visual tracking provides real-time and robust object tracking and motion estimation results to the vision-based control. The proposed interaction framework contains a knowledge base that describes tasks, and a high-level interpreter that can provide references for pose, force and tactile information in a given task. Also, an advanced control system will be developed, which will achieve the alignment of hand with respect to the object according to the suggested pose by the high-level task interpreter, and a position-force-tactile controller to provide robust and stable manipulation during the contact. The proposed program will lead to innovative interaction framework for an autonomous robotic system in manipulation, efficient optical tracking in motion and motion estimation, and human-like-manipulation by developing an advanced position-force-tactile controller with an interaction framework. The research results in the proposed program will have significant potential for application in many practical areas including search and rescue, homecare and assistive robots. The developed intelligent autonomous robots are applicable in industry and in daily life, leading to improved work efficiency, reduced workload for humans, and effective execution of tasks that require heavy duty machinery. The developed technologies are expected to result in significant progress in robotics research, particularly concerning perception, interaction and manipulation, and provide new research directions in autonomous robotics.