NRI: Collaborative Research: Software Framework for Research in Semi-Autonomous Teleoperation

远程操纵系统由人与主侧的机械设备交互以操作远程侧的机器人组成。它们为智能人类/机器人协作的研究提供了自然的机会，但现有的商业系统，用于诸如外科手术等领域，并不智能，因此只能复制人类操作员的动作。这些系统也是专有的，昂贵的，并且不能由研究人员进行修改。这个NRI项目的目标是提供一个开源软件基础设施，旨在与广泛的硬件和模拟设备一起工作，使更大的社区能够以更低的成本进行智能远程操作的研究和教育。机器人研究的增长速度至少可以部分归因于软件基础设施的日益可用性，例如机器人操作系统（ROS），开放的硬件平台。该NRI项目的重点是为智能远程操纵研究提供软件基础设施，利用为Raven II机器人和da芬奇Research Kit（dVRK）开发的基础设施，并继续将其扩展到其他系统，包括模拟机器人。三个主要任务是：（1）让社区参与指导开发，（2）为不同的硬件平台开发和实现一个通用的API，以及（3）提供一组高级的、平台无关的软件模块。其目标是支持半自主遥控机器人系统的研究，这些系统可以更有效地将人类的知识，推理和决策能力与机器人的感知和操纵能力联合收割机结合起来。

Telemanipulation systems consist of a human interacting with a mechanical device on the master side to operate a robot at the remote side. They provide natural opportunities for research in intelligent human/robot collaboration, but existing commercial systems, used in areas such as telesurgery, are not intelligent and therefore only replicate the actions of the human operator. These systems are also proprietary, expensive, and not available for modification by researchers. The goal of this NRI project is to provide an open-source software infrastructure that is designed to work with a broad range of hardware and simulated devices to enable a larger community to pursue research and education in intelligent telemanipulation at a lower cost.The increasing pace of robotics research can be attributed, at least in part, to the increasing availability of software infrastructure, such as Robot Operating System (ROS), and open hardware platforms. This NRI project focuses on providing a software infrastructure for research in intelligent telemanipulation, leveraging infrastructure developed for the Raven II robot and the da Vinci Research Kit (dVRK) and continuing to extend it to other systems, including simulated robots. The three main tasks are to: (1) engage the community to guide development, (2) develop and implement a common API for the diverse hardware platforms, and (3) provide a set of high-level, platform-independent software modules. The goal is to support research towards semi-autonomous telerobotic systems that can more effectively combine the knowledge, reasoning, and decision-making capabilities of a human with the sensing and manipulation capabilities of a robot.