我能举起来吗？人形机器人搬运未知物理性质重箱的可行性推理
Can I lift it? Humanoid robot reasoning about the feasibility of lifting a heavy box with unknown physical properties
摘要：
如果不可行，机器人就不能举起物体。然而，在大多数机器人搬运研究中，“可行性”通常被假定为先验存在。提出了一种人形机器人用三步推理方法来判断机器人能否举起一个物理性质未知的重箱子。由于提升的可行性直接关系到盒子的物理性质，我们首先离散化描述这些属性的参数的未知值的范围，并列出所有有效的最佳准静态提升轨迹通过模拟产生的所有组合的指数。其次，引入了一种基于物理交互的算法来识别与盒子相对应的鲁棒抓取位置和物理参数。在此过程中，机器人的稳定性和安全性得到了保证。在上述两个步骤的基础上，执行映射操作的第三步骤，以使估计参数与表中的索引最佳匹配。然后查询匹配的索引以确定是否存在有效的轨迹。如果是，则提升运动是可行的;否则，机器人决定该任务超出了其能力。我们的方法通过机器人和箱子之间的简单交互有效地评估了起重任务的可行性，同时获得了所需的安全稳定的轨迹。我们成功地证明了所提出的方法使用NAO人形机器人。
英文摘要：
A robot cannot lift up an object if it is not feasible to do so. However, in most research on robot lifting, "feasibility" is usually presumed to exist a priori. This paper proposes a three-step method for a humanoid robot to reason about the feasibility of lifting a heavy box with physical properties that are unknown to the robot. Since feasibility of lifting is directly related to the physical properties of the box, we first discretize a range for the unknown values of parameters describing these properties and tabulate all valid optimal quasi-static lifting trajectories generated by simulations over all combinations of indices. Second, a physical-interaction-based algorithm is introduced to identify the robust gripping position and physical parameters corresponding to the box. During this process, the stability and safety of the robot are ensured. On the basis of the above two steps, a third step of mapping operation is carried out to best match the estimated parameters to the indices in the table. The matched indices are then queried to determine whether a valid trajectory exists. If so, the lifting motion is feasible; otherwise, the robot decides that the task is beyond its capability. Our method efficiently evaluates the feasibility of a lifting task through simple interactions between the robot and the box, while simultaneously obtaining the desired safe and stable trajectory. We successfully demonstrated the proposed method using a NAO humanoid robot.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
