Intelligent Control of Robotic Contact Operations

0200388纽曼最近在机器人力控制和神经控制的独立领域的发展已经发展到这样一个地步，这些技术的集成可能会产生一个巨大的飞跃，在机器人的能力。目前，机器人的接触操作是笨拙和无效的，除非在环境高度可预测的情况下，任务可以单独使用位置控制来完成。然而，对于机器人的未来应用，如空间动力系统的自主装配，国防应用机器人或国内机器人的潜在产业，在非结构化环境中接触操作的能力是成功的关键。探索性项目将评估智能控制算法的使用与适当的假设和机器人/环境接触动力学的表示，使用“自然导纳控制”和“虚拟动态”作为一种手段，以整合高，低水平的控制。它将考虑智能控制研究中的四个任务：（1）构建一个自反的损伤避免层，以确保机器人及其环境的安全，并使安全，自主学习的能力：（2）人类的接触操作的策略将被分析和“克隆”的机器人执行，使用原子行为的识别和触发顺序行为的事件的识别;（3）环境动力学的在线辨识：（4）在NAC/虚拟动力学的背景下，将构造基于神经网络的采用“自适应批评器”的优化控制算法。

0200388NewmanRecent developments in the separate domains of robot force control and neurocontrolhave advanced to the point where integration of these technologies may yield a dramaticleap forward in robot competence. At present, robot contact operations are clumsy andineffective, except in instances where the environment is highly predictable and the taskscan be accomplished using position control alone. However, for futuristic applications ofrobots, such as autonomous assembly of a space-based power system, robots for defenseapplications, or a potential industry in domestic robotics, competence in contactoperations in unstructured environments is essential for success.The exploratory project will evaluate the use of intelligent control algorithms with appropriate set of assumptions and representations of robot/environment contact dynamics, using "Natural Admittance Control" and "virtual dynamics" as a means to integrate high and low-level controls. It will consider four tasks in intelligent control research: (1) constructing a reflexive damage-avoidance layer to assure the safety of a robot and its environment and enable the capability for safe, autonomous learning; (2) human strategies for contact operations will be analyzed and "cloned" for robot execution, using identification of atomic behaviors and recognition of events that trigger sequential behaviors; (3) on-line identification of environment dynamics; (4) neural-net based optimizing control algorithms employing "adaptive critics" will be constructed in the context of NAC/virtual dynamics.