提出可见可达工作空间，让机器人设计时同步考虑看得见和够得着。
Visible-Reachable Workspace for Perception-Aware Humanoid Design
- 定义可见可达工作空间，将视角与可达性联合评估。
- 可动摄像头使可见覆盖从38%提升至97%。
- 双相机布局显著提升多目标观测效率，适合复杂场景操作。
工作空间分析衡量机器人末端执行器可到达的位置。对于视觉引导的操作，仅可达性不足：某些运动学上可达的目标，在所需姿态下可能不可见。此时机器人需调整传感器或移动本体以获取视野，将感知限制转化为额外运动。现有拟人机器人大多继承此缺陷。本文提出可见可达工作空间（VRW），一种设计阶段的度量方法，将可见性与可行的可达配置相结合，并扩展至对空间分离工作区的同步可见性。通过构建一个31自由度、带独立驱动RGB-D相机的拟人机器人验证该方法。实验显示，相机可动性使可见可达覆盖率从38%提升至97%；增加第二台相机使成对覆盖从0.45升至0.95，第三台仅增至0.97。在双目标抓取基准测试中，双可动相机设计相比固定相机版本，平均完成时间减少17%，机械能耗降低19%。硬件实验证明无需躯干转向即可同时观察前后、左右目标对。结果表明，当结合感知配置评估时，可达性成为更有效的感知驱动型拟人机器人设计指标。所有软件与硬件设计将开源，详见https://generalroboticslab.com/DukeHumanoidv2。
原文摘要 · Abstract (English)
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
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