The force perception and feedback technology of human-computer interaction remote operation robot in Southeast University won the second prize of national technology invention.
This technology has been applied in China's manned space flight and lunar exploration project. Xinhua Press Vision Center reporter Liu Lishe
If a robot touches a rock on Mars, people on Earth can feel the texture and hardness of this stone on the ground! This is not a sci-fi but a technology that is close at hand. Professor Song Aiguo, School of Instrument Science and Engineering, Southeast University, recently received the second prize of National Technology Invention for the “Human Interaction and Teleoperation Robot Force Sensing and Feedback Technology†project. This achievement has already been included in China’s manned space flight and lunar exploration project. Get applied.
Turn the robot into a human agent
In Song Aiguo’s lab, there is a large robotic arm that can manipulate far-end robots. The resistance encountered by the robot and other force-aware information that interacts with the environment will be fed back in time so that the operator can effectively control the robot to complete complex tasks. Song Aiguo said that this kind of human-computer interaction is actually introducing artificial intelligence into robots, or turning robots into agents or paralyzed people.
He described a scenario: When a robot walks on Mars and touches a rock, sensors that are placed between the robot's fingertips and joints can feedback the sense of touch and force to the humans on Earth, enabling people to be there. What is the texture and hardness of this rock? Based on these feedbacks, humans can determine and manipulate how the robot will act next.
These are easy to say, but there are many technical difficulties. The most terrible is the delay problem. The signal from space to ground needs 7 seconds and the return is 7 seconds. During this time, the robot may have come to a new environment. If it encounters a ditch, it may fall. In order to solve this problem, Song Aiguo team added to the robot its own risk judgment function. When the camera finds that the front is a dangerous environment, it can slow down or stop to adjust itself until it receives a new order. At the same time, they also built a virtual model. The environment is the same as the real one. It can get timely feedback by simultaneously manipulating virtual robots and real robots. However, deviations between virtual and real environments have been controlled within 5%-7% through the corrective system.
20 years development of high-precision force measurement and force feedback control system
The hardest thing is how to accurately measure the robot's sense of power and touch. If the accuracy is not enough, there will be such a result: the stones that the robot catches are obviously hard, and the feedback is tactile but muddy. This deviation will directly lead to human beings unable to make decisions. Through repeated design, calculation and simulation, Song Aiguo team spent a full 20 years and finally developed a high-precision force measurement and force feedback control system.
It is understood that this achievement has provided technical and equipment support for the remote operation of the “Changsan III†lunar surface patrol device and satellite-based on-orbit service robot, and has completed the comprehensive man-machine interaction teleoperation task for large-scale robotic arms outside the space station in China. Ground test verification. This achievement has also been applied in nuclear reactors and nuclear power plant engineering, and has been applied and industrialized in the fields of industrial robots, special robots, and intelligent construction machinery.
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