SGER: Experimental Validation of a Human-Friendly Robot Testbed

拟议的研究是开发一种新的驱动方法，非常适合新兴的一代机器人设想在人类环境中操作，并进行全面的实验研究的验证和评估的分布式宏/微驱动（DM 2）方法的安全性和性能的观点。DM 2的方法解决了机器人的安全性和性能特性。DM 2方法采用一对并联连接并分布到机器人不同关节的致动器。整个机器人的有效惯性大大减少隔离反射惯性的执行器，同时大大降低了机械手的总重量。性能是保持与小执行器搭配的关节。在这种方法中的关键新奇在于一个驱动合成，介绍了，除了传统的分析连续扭矩大小的需要，在机器人控制中的致动器频率响应的实际要求。特别感兴趣的是在一个机器人和它的周围环境之间的三维碰撞的冲击力的分析。两个安全标准措施将用于量化在减少冲击力方面的安全改进。此外，还将针对传统的低阻抗设计对机器人的性能特性进行评估。本项目的研究成果将对加速人类友好型机器人的各个方面和应用领域的研究和技术开发做出巨大贡献。这些应用包括机器人假肢和辅助设备，以及机器人装配和自动化的传统领域。该领域可以扩展到需要密切人机交互的环境和任务，大大增加了机器人增强的制造和装配任务范围。最后，复杂的系统，如类人机器人系统，将需要固有的安全性才能为公众所接受。该项目的研究活动和大部分基本分析和概念验证将为研究生提供重要的培训和发展机会，并在夏季季度为本科生提供重要的培训和发展机会，作为大学赞助的夏季研究计划的一部分。通过斯坦福大学机器人实验室提供教育和推广机会。研究结果和硬件演示作为正式课程工作的一部分在斯坦福大学以及实验室外展工作的一部分，校友，行业和中学组织。

The proposed research is to develop a new actuation methodology well suited for the emerging generation of robots conceived to operate in human environments, and to conduct a comprehensive experimental study of validation and evaluation of the distributed macro mini actuation (DM2) methodology from the point of views of safety and performance. The methodology of DM2 addresses both the safety and performance characteristic of a robot. The DM2 approach employs a pair of actuators, connected in parallel and distributed to the different joints of the robot. The effective inertia of the overall robot is substantially reduced by isolating the reflected inertia ofthe actuator while greatly reducing the overall weight of the manipulator. Performance is maintained with small actuators collocated with the joints. The key novelty in this approach lies in an actuation synthesis that introduces, in addition to the conventional analysis of continuous torque magnitude needs, the actual requirements in actuator frequency responses in robot control. Of particular interest is the analysis of impact forces in a three dimensional collision between a robot and its surroundings. Two safety standard measures will be used to quantify the improvement in safety in terms of reduction of impact force. In addition, the robot performance characteristics will be evaluated against traditional low-impedance design.The effort proposed in this project has the potential to greatly contribute to accelerating the research and technology development in various aspects and application areas of human-friendly robotics. Such applications include robotic prosthetic and assistive devices, as well as traditional areas of robotic assembly and automation. This area can be expanded to environments and tasks, which require close human-robot interaction, greatly increasing the range of manufacturing and assembly tasks available for robotic augmentation. Finally, complex systems, such as human-like robotic systems, will require inherent safety to be acceptable to the public at large. The research activities and much of the underlying analysis and concept validation in this project will provide an important training and development opportunities to graduate students and during the summer quarter to undergraduate students as part of university sponsored summer research programs. Educational and outreach opportunities are provided through the Stanford Robotics Laboratory. The research results and hardware demonstrations are presented as part of formal course work at Stanford as well as part of the Laboratory outreach efforts to alumni, industry, and secondary school organizations.