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

该计划的建议是开发方法和技术，将导致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先进的力量，触觉和视觉控制，2。4.机器学习。传感器融合。提出了一个整体体系结构，包括三个子系统：1)。高效的视觉跟踪和运动估计；2)。交互框架;和3)。先进的操纵控制。在该体系结构中，高效的视觉跟踪为基于视觉的控制提供了实时、鲁棒的目标跟踪和运动估计结果。所提出的交互框架包含一个描述任务的知识库和一个高级解释器，该解释器可以为给定任务中的姿势、力度和触觉信息提供参考。此外，将开发一种先进的控制系统，该系统将根据高级任务解释器建议的姿势实现手与物体的对齐，以及一个位置-力-触觉控制器，在接触过程中提供鲁棒和稳定的操作。该计划将通过开发具有交互框架的先进位置-力-触觉控制器，为自主机器人系统的操作，运动和运动估计的有效光学跟踪以及类人操作提供创新的交互框架。本课题的研究成果将在包括搜救、家庭护理和辅助机器人在内的许多实际领域具有重要的应用潜力。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，并有效地执行需要重型机械的任务。这些发展起来的技术有望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，并为自主机器人研究提供新的方向。

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.