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: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=752801
• 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. 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.

该计划的拟议建议是开发方法和技术，这些方法和技术将导致在具有动态相互作用的实际应用中精确操纵自动移动机器人。主要贡献旨在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。鉴于最终目标所需的功能，提议的程序的范围涵盖了四个主要研究领域：1。机器视觉，特别是实时和健壮的对象跟踪和手势理解2.先进的力量，触觉和视力控制，3。机器学习和4。传感器融合。提出了一个整体体系结构，其中包含三个子系系统：1）。有效的视觉跟踪和运动估计； 2）。交互框架；和3）。操纵的高级控制。在拟议的体系结构中，有效的视觉跟踪为基于视觉的控制提供了实时和健壮的对象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，以及可以在给定任务中提供姿势，力量和触觉信息引用的高级解释器。此外，还将开发一个先进的控制系统，该系统将根据高级任务解释器建议的姿势与对象相对于对象的对准，并在触点期间提供稳定稳定的操纵。提出的计划将通过开发具有交互框架的先进位置 - 触觉控制器，从而为操作，运动和运动估算中的有效光学跟踪以及类似人类的操作而导致自主机器人系统的创新交互框架。拟议计划中的研究结果将在许多实际领域具有巨大的应用潜力，包括搜索和救援，家庭护理和辅助机器人。开发的智能自动驾驶机器人适用于行业和日常生活，从而提高了工作效率，减少人类的工作量以及有效执行需要重型机械的任务。预计开发的技术将在机器人技术研究中取得重大进展，尤其是关于感知，相互作用和操纵，并提供自主机器人技术的新研究方向。