发表机构
Duke University（杜克大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出可见可达工作空间（VRW）度量，通过独立驱动相机的人形机器人设计，将可见可达覆盖率从38%提升至97%，显著提高操作效率与能耗表现。
AI 中文摘要
工作空间分析衡量机器人能够将其末端执行器放置在何处。对于视觉引导的操作任务，仅凭可达性是不够的：一个运动学上可达的目标可能在到达它所需的特定姿态下不可见。因此，机器人必须重新定向其传感设备或移动身体以获取视野，这将感知限制转化为额外的运动。现有的人形机器人在模仿人类形态时，在很大程度上继承了这一限制。我们引入了可见可达工作空间（VRW），这是一种设计阶段的度量，它基于可行的到达配置来限定可见性，并将其扩展到空间分离的工作区域的同时可见性。我们通过构建一个具有独立驱动RGB-D相机的31自由度人形机器人来应用VRW。在同一机器人上，相机关节运动将可见可达覆盖率从38%提高到97%。在驱动相机布局下，第二个相机将成对覆盖率从0.45提高到0.95，而第三个相机仅将其提高到0.97。在受控的双目标到达-抓取基准测试中，与相机固定的同一机器人相比，我们的双驱动设计将平均完成时间降低了17%，机械能耗降低了19%。硬件实验展示了无需躯干重新定向即可同时观察和操作前/后和左/右目标对。结果表明，当可达性与使可达空间可观测的传感配置一起评估时，可达性成为感知驱动的人形机器人操作中更具信息量的设计指标。我们将开源所有软件和人形机器人硬件设计。我们的网站是此https URL。
英文摘要
Workspace analysis measures where a robot can place its end effector. For visually guided manipulation, reachability alone is insufficient: a kinematically reachable target may not be visible in the specific pose required to reach it. The robot must then redirect its sensing or move its body to acquire a view, turning a perception limitation into additional motion. Existing humanoids largely inherit this limitation when copying human form factors. We introduce the visible-reachable workspace (VRW), a design-stage measure that conditions visibility on feasible reaching configurations and extends it to concurrent visibility of spatially separated work regions. We apply VRW by building a 31-DoF humanoid with independently actuated RGB-D cameras. On the same robot, camera articulation increases visible-reachable coverage from 38% to 97%. With actuated camera layouts, a second camera raises pairwise coverage from 0.45 to 0.95, while a third changes it only to 0.97. In a controlled two-target reach-and-grasp benchmark, our dual-actuated design reduces mean completion time by 17% and mechanical energy by 19% relative to the same robot with its cameras fixed. Hardware experiments demonstrate simultaneous observation and manipulation of front/back and left/right target pairs without torso reorientation. The results suggest that reachability becomes a more informative design quantity for perception-driven humanoid manipulation when it is evaluated together with the sensing configurations that make the reachable space observable. We will open-source all software and the humanoid hardware design. Our website is https://generalroboticslab.com/DukeHumanoidv2
Comments9 pages, 7 figures, in submission
