机器人技术路线图：从互联网到机器人(A Roadmap for US Robotics)

68
4.1. Architecture and Representations 68
4.2. Control and Planning
68
4.3. Perception 69
4.4. Robust, High-Fidelity Sensors
69
4.5. Novel Mechanisms and High-Performance Actuators 69
2. Strategic Findings 52
2.1. Principal Markets and Drivers
53
2.2. Near-Term Opportunities and Factors Affecting Commercialization 54
ii
A Roadmap for U.S. Robotics – From Internet to Robotics
May 21, 2009
A Roadmap for US Robotics
From Internet to Robotics
Organized by
Georgia Institute of Technology University of Southern California
Johns Hopkins University University of lvania University of California, Berkeley Rensselaer Polytechnic Institute University of Massachusetts, Amherst
2.5. Human-Robot Interfaces 76
2.6. Communications and Networking 76
2.7. Planning and Control
77
2.8. Robustness and Reliability 77
2.9. Perception and Machine Learning 78
University of Utah Carnegie Mellon University
Tech Collaborative
Sponsored by
Table of Contents
Overview
Robotics as a Key Economic Enabler
1
Roadmap Results: Summary of Major Findings 2
4.7. Human-Robot Interaction 19
4.8. Architecture and Representations 19
5. References 20
6. Contributors 21
Table of Contents
i
Chapter 2
A Research Roadmap for Medical and Healthcare Robotics 23
31
3.2. Capabilities Roadmap
33
3.3. Deployment Issues 42
4. Basic Research/Technologies 43
4.1. Architecture and Representations 43
4.2. Formal Methods 44
4.3. Control and Planning
Executive Summary 23
Motivation and Scope 23
Participants 24
Workshop Findings
24
1. Introduction 24
1.1. Definition of the Field/Domain
24
1.2. Societal Drivers 25
Market Specific Conclusions 3
Further information 5
Chapter 1
Robotics and Automation Research Priorities for U.S. Manufacturing 7
Executive Summary 7
1. Introduction 8
2. Strategic Importance of Robotics in Manufacturing
9
2.1. Economic Impetus 9
2.2. Growth Areas
10
2.3. A Vision for Manufacturing 11
3. Research Roadmap 12
3. Key Challenges / Capabilities 78
3.1. Motivating/Exemplar Scenarios
78
3.2. Capabilities Roadmap
80
4. Research/Technologies
83
4.1. Actuation Systems 83
4.2. Energy and Power Systems 83
Over the past 50 years, robots have been primarily used to provide increased accuracy and throughput for particular, repetitive tasks, such as welding, painting, and machining, in hazardous, high volume manufacturing environments. Automating such dirty, dull, and dangerous functions has mostly involved implementing customized solutions with relatively specific, near term value. Although a sizeable “industrial” robotics industry has developed as a result, the applications for such first generation robotics solutions have proven to be relatively narrow and largely restricted to static, indoor environments, due to limitations in the enabling technology.
4.9. Socially Interactive Robots 47
4.10. Modeling, Simulation, and Analysis 47
5. Contributors 49
Chapter 3
A Roadmap for Service Robotics 51
1. Introduction 51
2. Strategic Findings 27
2.1. Surgical and Interventional Robotics 27
2.2. Robotic Replacement of Diminished/Lost Function 28
2.3. Robot-Assisted Recovery and Rehabilitation 28
4.6. Learning and Adaptation 70
4.7. Physical Human-Robot Interaction 70
4.8. Socially Interactive Robots 70
5. Contributors 71
Chapter 4
Robotics: Emerging Technologies and Trends 73
Within the past five years, however, tremendous advancements in robotics technology have enabled a new generation of applications in fields as diverse as agile manufacturing, logistics, medicine, healthcare, and other commercial and consumer market segments. Further, it is becoming increasingly evident that these early, next generation products are a harbinger of numerous, large scale, global, robotics technology markets likely to develop in the coming decade. Owing to the inexorable aging of our population, the emergence of such a next generation, “robotech” industry will eventually affect the lives of every American and have enormous economic, social, and political impact on the future of our nation.
1. Introduction 73
2. Strategic Findings 74
2.1. Actuation Systems 74
2.2. Energy and Power Systems 74
2.3. Fabrication and Materials Technology 75
2.4. Micro and Nano Technology 75
3.1. The Process 12
3.2. Robotics and Manufacturing Vignettes 12
3.3. Critical Capabilities for Manufacturing
13
4. Research and Development: Promising Directions 17
4.3. Fabrication and Materials Technology 84
4.4. Planning and Control
85
5. Contributors 86
Table of Contents
iii
Overview
Robotics as a Key Economic Enabler
2.4. Behavioral Therapy 29
2.5. Personalized Care for Special-Needs Populations
30
2.6. Wellness/Health Promotion 31
3. Key Challenges and Capabilities
31
3.1. Motivating Exemplar Scenarios
44
4.4. Perception 44
4.5. Robust, High-Fidelity Sensors
45
4.6. Novel Mechanisms and High-Performance Actuators 45
4.7. Learning and Adaptation 46
4.8. Physical Human-Robot Interaction 46
2.3. Scientific and Technical Challenges 55
3. Key Challenges/Capabilities 60
3.1. Motivating Scenarios 60
3.2 Capabilities Roadmap
63
4. Basic Research and Technologies
4.1. Learning and Adaptation 17
4.2. Modeling, Analysis, Simulation, and Control 18
4.3. Formal Methods 18
4.4. Control and Planning
18
4.5. Perception 19
4.6. Novel Mechanisms and High-Performance Actuators 19