论文标题
机器人索菲亚的神经符号人类手臂控制器
A Neuro-Symbolic Humanlike Arm Controller for Sophia the Robot
论文作者
论文摘要
我们使用机器感知，卷积神经网络和符号AI概述了新型机器人臂的设计和构建，用于逻辑控制和负担能力索引。我们描述了我们的机器人臂，它采用人类的机械配置和美学，具有28个自由度，触摸传感器和串联弹性执行器。手臂是用乌德尔（Roodle）和凉亭建模的，其中包括乌尔德（Urdf）型号以及团结，并实施运动控制解决方案，以求解巴卡拉特（Baccarat）的现场游戏（赌场卡游戏），岩石纸剪刀，握手和绘画。这包括与人的实时互动，结合了手和面部手势的社会控制，以及用于掌握和操纵任务的物理逆运动学（IK）。最终的框架是Sophia 2020 Alpha平台不可或缺的一部分，该平台与正在进行的研究中的研究一起与Aham Team Aham合作，Aham是Ana Avatar Xprize努力用于Human-Ai Hybrid Tepresence。这些结果可用于在广泛发布的Hanson Robotics Sophia 2020 Robot平台上测试，以供用户尝试扩展。
We outline the design and construction of novel robotic arms using machine perception, convolutional neural networks, and symbolic AI for logical control and affordance indexing. We describe our robotic arms built with a humanlike mechanical configuration and aesthetic, with 28 degrees of freedom, touch sensors, and series elastic actuators. The arms were modelled in Roodle and Gazebo with URDF models, as well as Unity, and implement motion control solutions for solving live games of Baccarat (the casino card game), rock paper scissors, handshaking, and drawing. This includes live interactions with people, incorporating both social control of the hands and facial gestures, and physical inverse kinematics (IK) for grasping and manipulation tasks. The resulting framework is an integral part of the Sophia 2020 alpha platform, which is being used with ongoing research in the authors work with team AHAM, an ANA Avatar Xprize effort towards human-AI hybrid telepresence. These results are available to test on the broadly released Hanson Robotics Sophia 2020 robot platform, for users to try and extend.
