Torque-Controlled Humanoid Robot

与人类相当的机器人操作和运动能力，视觉和多感官感知，认知感知和理解环境，物理人机交互，从运动动作到认知的不同层次的学习，以及它们的开发和评估与人形机器人代表了机器人和人工智能研究的主要挑战。尽管取得了很大的进展，这些令人兴奋的研究领域还没有得到充分的探索，无论是单独或在其相互作用。所要求的人形机器人旨在成为达姆施塔特技术大学（TU）新创建的人形机器人跨部门实验室的中心研究平台。在那里，它将形成一个新的和特别富有成效的接口，用于机器人技术和达姆施塔特工业大学的“人工智能”和“认知科学”的跨学科研究，并有在上述领域特别合格的研究人员参与。一个设备齐全的人形机器人，特别是具有扭矩传感器的关节，需要这些相互关联的研究问题的调查。例如，可以使用应用机器人来研究操作和运动所需的低级控制与解决由许多中间步骤组成的繁琐任务所需的抽象和符号化的状态和动作表示之间的相互作用。这些不同层次的抽象是相互依赖的。一方面，运动技能必须学习或完善抽象的目标，另一方面，表征必须学习，有效地总结学习原语的主要效果。由于达姆施塔特工业大学的任何机器人都没有提供必要的电机和传感器能力以及高度的操纵和运动多样性，因此所要求的人形机器人对于这些相关研究课题的调查是不可或缺的。所需的跨学科专业知识在达姆施塔特工业大学由“模拟，系统优化和机器人学”，“智能自主系统”，“人工智能和机器学习”，“信息处理心理学”和“运动生物力学/运动实验室”，这都是牢固建立的教授职位，初级教授职位“智能机器人辅助系统”和独立的初级研究小组“交互式人工智能算法和人类-人工智能交互的认知模型”，都由新兴研究人员领导，以及认知科学中心。

Human-comparable robotic capabilities of manipulation and locomotion, visual and multisensory perception, cognitive perception and understanding of the environment, physical human-robot interaction, learning at different levels from motor action to cognition, as well as their development and evaluation with humanoid robots represent major challenges for research in robotics and artificial intelligence. Despite great progress, these exciting areas of research have not been sufficiently explored either individually or in their interactions. The requested humanoid robot is intended to be the central research platform of the newly created interdepartmental laboratory for humanoid robotics at the Technical University (TU) Darmstadt. There, it will form a new and particularly fruitful interface for interdisciplinary research in robotics and the university-wide profile topics "Artificial Intelligence" and "Cognitive Science" of the TU Darmstadt with the participation of researchers who are particularly qualified in the aforementioned fields. A fully equipped humanoid robot, in particular featuring torque sensors in the joints, is required for the investigation of these interrelated research questions. For example, the interaction between the low-level control required for manipulation and locomotion and the abstract and symbolic state and action representations required for solving tedious tasks consisting of many intermediate steps can be investigated using the applied robot. These different levels of abstraction are mutually dependent. On the one hand, motor skills must be learned or refined with respect to abstract goals, and on the other hand, representations must be learned that efficiently summarize the main effects of learned primitives. Since the necessary motor and sensor abilities in combination with a high degree of manipulation and locomotion diversity are not provided by any of the robots available at the TU Darmstadt, the requested humanoid is indispensable for the investigation of such interrelated research topics. The required interdisciplinary expertise is excellently covered at the TU Darmstadt by the professorships "Simulation, Systems Optimization and Robotics", "Intelligent Autonomous Systems", "Artificial Intelligence and Machine Learning", "Psychology of Information Processing" and "Sport Biomechanics / Locomotion Laboratory", which are each firmly established, the junior professorship "Intelligent Robotic Systems for Assistance" and the independent junior research group "Interactive AI Algorithms & Cognitive Models for Human-AI Interaction", both led by emerging researchers, as well as the Centre for Cognitive Science.