MRI: Equipment Development: Bimanual Robotic Manipulation and Sensory Workspace

提案编号：12- 29566 PI（s）：Lynch，Kevin M; Argall，Brenna; Colgate，J. Edward; Murphey，托德D; Wu，Ying机构：西北大学标题：MRI/开发：建议的双手机器人操作和感觉工作空间项目：该项目开发由机器人手臂/手臂和视觉相关设备组成的仪器，旨在推进灵巧动态机器人操作的研究。该系统的主要组成部分是一个双臂操作系统，包括两个7自由度WAM手臂和三指手与触觉和力扭矩传感器;一个感官工作空间，包括高速视觉的对象跟踪和颜色深度相机的低速彩色成像和占用地图;和用户命令和控制工作站，所有集成使用软件运行在机器人操作系统（ROS）。该仪器能够在各个领域进行研究，例如操纵、触觉、演示学习、手势识别、康复、假肢和新型传感模式（例如，更广泛的影响：人机交互领域应该从这一仪器中获益匪浅。双臂操纵是一个活跃的研究领域，与制造业极为相关，是一个重要和紧迫的国家关切问题。 在外联和代表性不足群体的参与方面，该小组？学校的成绩记录可以从一些机构的项目中得到证明，比如夏季研究机会，与女童子军和当地科学博物馆的合作。该项目旨在将参与该项目的博士生作为Barrett Technologies的实习生，从而提供与机器人手臂/手设计师密切合作的机会。这种合作超越了传统的供应商-买方关系，可能共同设计和共同发布材料和软件组件。

Proposal #: 12-29566PI(s): Lynch, Kevin M; Argall, Brenna; Colgate, J. Edward; Murphey, Todd D; Wu, YingInstitution: Northwestern UniversityTitle: MRI/Dev.: Bimanual Robotic Manipulation and Sensory Workspace Project Proposed:This project, developing an instrument consisting of robot arms/arms and vision-related equipment, aims to advance research in dexterous dynamic robot manipulation. The major components of the system are a two-arm manipulation system consisting of two 7-DOF WAM arms and three-finger hands with tactile and force-torque sensors; a sensory workspace consisting of high-speed vision for object tracking and color-depth cameras for lower-speed color imaging and occupancy maps; and a user command and control workstation, all integrated using software running under the Robot Operating System (ROS). The instrument enables research in various areas, such as manipulation, haptics, learning-by-demonstration, gesture recognition, rehabilitation, prosthetics, and novel sensing modalities (e.g., active electrosense).Broader Impacts:The area of human-robot interaction should gain much from this instrument. An active area of research, dual-arm manipulation is extremely relevant in the context of manufacturing, which constitutes an important and urgent national concern. In terms of outreach and the involvement of under-represented groups, the team?s track record is evidenced by institutional programs, like summer research opportunities and partnerships to Girl Scout troops and local science museums. This project aims to place PhD students involved in the project as interns at Barrett Technologies, thus providing opportunities to closely collaborate with the robot arm/hand designer. Such collaboration transcends the traditional vendor-buyer relationship to possibly co-design and co-publish material and software components.