CRI: Experimental Platform for Robot Programming and Task Execution in Human Environments

摘要建议：CNS 0454074PI：奥利弗·布罗克研究所：马萨诸塞大学阿默斯特项目：NSF 04-588简明计算研究基础设施标题：CRI：人类环境中机器人编程和任务执行的实验平台研究人员将构建一个结合了移动性、灵巧操作能力和先进传感能力的机器人平台。该平台将作为实验试验台，对编程移动机械手在人类环境中执行复杂任务的算法进行集成研究。该基础设施将支持对五个项目的研究。(1)概率逻辑规划，以利用世界的代表性来制定计划。这项研究将开发适应性策略来应对现实世界中的不确定性。(2)移动机械手的传感涉及协调机械手的运动和允许在世界各地移动的机动作业的挑战。(Iii)移动机械手的感测将探索如何移动传感器，如摄像机，以获得场景的多个视图，并提高对场景的理解。(4)通过演示进行编程将开发向人类操作员学习如何执行复杂任务的技术。(V)观察编程采用隐马尔可夫模型进行分层任务分解。该项目的更广泛影响包括在学生论文项目中使用该设施，从附近女子学院招聘的REU项目，以及参与为来自代表性不足群体的学生提供暑期研究机会的SPUR计划。

AbstractProposal: CNS 0454074PI: Oliver BrockInstitution: University of Massachusetts - AmherstProgram: NSF 04-588 CISE Computing Research InfrastructureTitle: CRI: Experimental Platform for Robot Programming and Task Execution in Human Environments The investigators will construct a robotic platform that combines mobility and dexterous manipulation capabilities with advanced sensing. This platform will serve as the experimental testbed for an integrated research effort into algorithms for programming mobile manipulators to perform complex tasks in human environment. The infrastructure will support research on five projects. (i) Probabilistic logic planning to develop plans using a representation of the world. This research will develop adaptive strategies to deal with uncertainty in the real world. (ii) Sensing for mobile manipulators deals with the challenge of coordinating the motions of the manipulator and the mobility operations that permit moving about the world. (iii) Sensing for mobile manipulators will explore how to move sensors such as cameras to get multiple views of a scene and improve understanding of the scene. (iv) Programming by demonstration will develop techniques to learn from human operators how to perform a complex task. (v) Programming by observation uses a hidden Markov model to deal with hierarchical task decomposition. Broader impacts of this project include the use of the facility in student thesis projects, REU projects that recruit from nearby women's colleges, and participation in the SPUR program that provides summer research opportunities to students from underrepresented groups.