A Paradigm for Inexpensive Service Robots

服务机器人领域有可能通过将人们从肮脏，沉闷和危险的环境中移除来提高数百万人的生活质量。然而，目前的机器人过于昂贵，具有有限的任务灵活性，并且缺乏在服务应用中使用所需的鲁棒性。 如果服务机器人要像个人电脑一样无处不在，就需要进行范式转换。本研究的目标是开发一个“工具箱”，其中包含简单的致动器和结构元件，以及一种设计方法， 如何 这些部件应针对特定的服务任务进行组装。 这种方法的基石是使用二元（双态）致动器，如气缸，因为它们的有效载荷重量比高，成本非常低。 使用时 组合 带有被动阻尼元件的 （减震器） 这样的致动器在具有非常小的反冲的二进制状态之间提供平滑且良好的运动。 在一组指定的任务中，从这个工具箱构造的机器人本质上是一台专用机器。与通用机器人相比，所得到的机器的专用性质降低了成本要求并增加了机器人的可靠性。

The field of service robotics holds the potential to increase the quality of life of millions by removing people from situations that are dirty, dull, and dangerous. However, current robots are far too expensive, have limited task flexibility, and lack the robustness required for use in service applications. A paradigm shift is required if service robots are to ever be as ubiquitous as personal computers. The goal of this research is to develop a "toolbox" containing simple actuators and structural elements together with a design methodology which governs how the components should be assembled for specified service tasks. The cornerstone of this approach is the use of binary (two-state) actuators such as pneumatic cylinders because of their high payload to weight ratio and very low cost. When used in combination with passive damping elements (dashpots) such actuators provide smooth and well-behaved motion between binary states with very little backlash. Within a specified set of tasks the robot constructed from this toolbox is essentially a dedicated machine. The dedicated nature of the resulting machine reduces the cost requirements and increases the reliability of the robot as compared to general purpose robots.