Chemists need to perform many laborious and time-consuming experiments in the lab to discover and understand the properties of new materials. To support and accelerate this process, we propose a robot framework for manipulation that autonomously performs chemistry experiments. Our framework receives high-level abstract descriptions of chemistry experiments, perceives the lab workspace, and autonomously plans multi-step actions and motions. The robot interacts with a wide range of lab equipment and executes the generated plans. A key component of our method is constrained task and motion planning using PDDLStream solvers. Preventing collisions and spillage is done by introducing a constrained motion planner. Our planning framework can conduct different experiments employing implemented actions and lab tools. We demonstrate the utility of our framework on pouring skills for various materials and two fundamental chemical experiments for materials synthesis: solubility and recrystallization.
翻译:摘要:化学家在实验室中需要执行许多繁重且耗时的实验,以发现和了解新材料的特性。为了支持和加速这个过程,我们提出了一个机器人框架,用于自主执行化学实验的操作。我们的框架接收高层次的实验抽象描述,感知实验室工作空间,并自主规划多步运动和操作。机器人与各种实验室设备交互,并执行生成的计划。我们方法的一个关键组件是使用PDDLStream求解器进行受限任务和运动规划。通过引入受限运动规划器,避免碰撞和泼洒。我们的计划框架可以使用已实现的操作和实验室工具进行不同的实验。我们展示了我们的框架在完成不同材料的倾注技能以及材料合成的两个基本化学实验-溶解度和重结晶方面的实用性。