Anticipatory control using substrate manipulation enables trajectory control of legged locomotion on heterogeneous granular media
Anticipatory control using substrate manipulation enables trajectory control of legged locomotion on heterogeneous granular media
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使用基质操纵的预期控制能够实现在异质颗粒介质上腿式运动的轨迹控制
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
D. Goldman
中科院分区：
文献类型：
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作者：
Feifei Qian;D. Goldman
腿式机器人必须穿越由不同大小、形状和纹理的颗粒组成的复杂地形。虽然机器人如何有效地在坚硬的地面上移动，并越来越多地在均匀的颗粒介质上移动，但在异质颗粒基质上移动的原理相对未被探索。为了系统地发现基底异质性如何影响步行运动，我们研究了嵌入细颗粒介质中的单个巨石（不同几何形状的3D打印凸形物体）的存在如何影响小型（150 g）六腿机器人的轨迹。使用自动化系统收集数千次运动试验，我们观察到，在与巨石相互作用之前，轨迹是直的，在相互作用之后，根据腿与巨石的接触位置，轨迹分散到不同的角度。然而，这种依赖性的散射角接触区是相对不敏感的巨石形状，方向和粗糙度。1受这种不敏感性的启发，在这里，我们开发了一个预期的控制方案，它使用的散射信息与尾部诱导基板干扰协调。我们的计划允许机器人“设想”的相互作用的结果，使机器人可以防止轨迹偏差发生散射之前。我们假设，（特别是在快速运行或在嘈杂的传感器的存在下）适当的基板操作可以让机器人保持在一个有利的运动配置，避免灾难性的相互作用。
Legged robots must traverse complex terrain consisting of particles of varying size, shape and texture. While much is known about how robots can effectively locomote on hard ground and increasingly on homogeneous granular media, principles of locomotion over heterogeneous granular substrates are relatively unexplored. To systematically discover how substrate heterogeneity affects ambulatory locomotion, we investigate how the presence of a single boulder (3D printed convex objects of different geometries) embedded in fine granular media affects the trajectory of a small (150 g) six legged robot. Using an automated system to collect thousands of locomotion trials, we observed that trajectories were straight before the interaction with the boulder, and scattered to different angles after the interaction depending on the leg-boulder contact positions. However, this dependence of scattering angle upon contact zone was relatively insensitive to boulder shape, orientation and roughness.1 Inspired by this insensitivity, here we develop an anticipatory control scheme which uses the scattering information in coordination with a tail induced substrate jamming. Our scheme allows the robot to "envision" outcomes of the interaction such that the robot can prevent trajectory deviation before the scattering occurs. We hypothesize that (particularly during rapid running or in the presence of noisy sensors) appropriate substrate manipulation can allow a robot to remain in a favorable locomotor configuration and avoid catastrophic interactions.