Development and field testing of the FootFall planning system for the ATHLETE robots
Development and field testing of the FootFall planning system for the ATHLETE robots
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DOI：
10.1002/rob.20410
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发表时间：
2012-05
影响因子：
8.3
通讯作者：
Vytas SunSpiral;Dawn Wheeler;D. Chavez-Clemente;D. Mittman
中科院分区：
文献类型：
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作者：
Vytas SunSpiral;Dawn Wheeler;D. Chavez-Clemente;D. Mittman
FootFall Planning System 是一种基于地面的规划和决策支持系统，旨在促进 ATHLETE（全地形六肢外星人探索者）机器人系列的步行活动控制。 ATHLETE 是由 NASA 喷气推进实验室开发的，是一款大型六足机器人，设计用于在载人和无人登月任务中发挥多种作用；它的作用包括运输、建筑和勘探。从 2006 年到 2010 年的 4 年时间里，足迹规划系统被开发并适应了两代运动员机器人，并在两个模拟现场进行了测试 [人类机器人系统项目的综合现场测试，2008 年 6 月在华盛顿州摩西湖进行，以及沙漠研究和技术研究 (D‐RATS)，在亚利桑那州黑角熔岩流举行，2010 年 9 月]。当前版本的 ATHLETE 机器人具有 42 个运动自由度，最大站立高度略高于 4 m，在地球重力作用下的有效负载能力为 450 kg，是一个独特的复杂系统。这项工作的一个核心挑战是高自由度机器人的顺应性，尤其是轮子的顺应性，这影响静态稳定行走的许多方面。本文回顾了 FootFall 系统的发展历史，分享了设计决策、现场测试经验以及有关合规性和自我意识的经验教训。 © 2012 Wiley 期刊公司。
The FootFall Planning System is a ground‐based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All‐Terrain Hex‐Limbed Extra‐Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory and is a large, six‐legged robot designed to serve multiple roles during manned and unmanned missions to the moon; its roles include transportation, construction, and exploration. Over the 4 years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites [the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D‐RATS), held at Black Point Lava Flow in Arizona, September 2010]. Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 m, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high‐degree‐of‐freedom robot, especially the compliance of the wheels, which affected many aspects of statically stable walking. This paper reviews the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self‐awareness. © 2012 Wiley Periodicals, Inc.