论文标题
科学探索的多臂机器人平台
A Multi-Arm Robotic Platform for Scientific Exploration
论文作者
论文摘要
有大量的机器人平台，具有两个或多个针对手术应用的武器。尽管如此，很少有团体使用此类平台进行科学探索。多臂平台在科学探索中的可能应用涉及通过使用类器官（即微型人体器官）进行顽固性疾病机制的研究。在这项工作中，我们介绍了我们用于科学实验的AI-Robot科学平台的第一个原型，其数字双胞胎以及在Teleperation下进行验证实验。这些实验通过执行钉子转移，纱布切割，使用鸡蛋的模拟实验以及世界上第一个四手远程钻探进行颅窗来展示平台的敏捷性。数字双胞胎和相关的控制软件可在https://aiscienceplatform.github.io中免费使用。
There are a large number of robotic platforms with two or more arms targeting surgical applications. Despite that, very few groups have employed such platforms for scientific exploration. Possible applications of a multi-arm platform in scientific exploration involve the study of the mechanisms of intractable diseases by using organoids, i.e., miniature human organs) The study of organoids requires the preparation of a cranial window, which is done by carefully removing an 8 mm patch of the skull of a mouse. In this work, we present the first prototype of our AI-robot science platform for scientific experimentation, its digital twins, and perform validation experiments under teleoperation. The experiments showcase the dexterity of the platform by performing peg transfer, gauze cutting, mock experiments using eggs, and the world's first four-hand teleoperated drilling for a cranial window. The digital twins and related control software are freely available for noncommercial use at https://AISciencePlatform.github.io.
