Design and Characterization of a Novel, Continuum-Robot Surface for the Human Environment
Design and Characterization of a Novel, Continuum-Robot Surface for the Human Environment
复制标题
针对人类环境的新型连续体机器人表面的设计和表征
DOI：
10.1109/coase.2019.8842988
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
K. Green
中科院分区：
文献类型：
--
作者：
Richa Sirohi;Yixiao Wang;Samantha Hollenberg;I. Godage;I. Walker;K. Green
我们提出了一种新的，机器人的形式，旨在自适应自动化的形状和功能的人类环境。虽然机器人往往是刚性连接，僵硬的对象时，设置在人类环境中，服务于特定的人类目标，他们也可以是兼容的，并给予形式的物理环境和扩大人类的活动在it.We介绍这样的机器人，一种新颖的，肌腱驱动，连续的机器人表面，我们称之为“空间代理”本文介绍了我们的概念，设计和实现的空间代理。这个机器人表面的实验比较我们的原型，我们的模拟五个空间配置是正式不同的，并暗示如何表面可能被应用到可居住的，物理空间，以响应人类的需求和愿望。我们发现，原型和模拟之间的验证匹配的五个配置的调查。本文的结论与机器人表面的潜在应用，如这一个考虑。
We present a novel, robot form aimed at adaptively automating the shape and functionality of the human environment. While robots tend to be rigid-link, stiff objects when set within human environments, serving specific human objectives, they can also be compliant and give form to the physical environment and widen human activities within it. We introduce such a robot, a novel, tendon-driven, continuum robot surface we call a “Space Agent This paper presents our concept, design, and realization of the Space Agent. Experiments with this robot surface compare our prototype to our simulations of five spatial configurations that are formally distinct and suggestive of how the surface might be applied to habitable, physical space in response to human needs and wants. We found a validating match between prototype and simulations for the five configurations investigated. The paper concludes with a consideration of potential applications for robot surfaces like this one.