Analysis of using an active artificial spine in a quadruped robot
Analysis of using an active artificial spine in a quadruped robot
复制标题
主动人工脊柱在四足机器人中的应用分析
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
F. Kirchner
中科院分区：
文献类型：
--
作者：
D. Kuehn;A. Dettmann;F. Kirchner;F. Kirchner
随着我们日常生活的日益机械化，公众和科学家对机器人系统的期望和要求都在增加。特别是在灾难场景中，机器人系统在运行过程中不仅要面对各种不同的任务，还要处理对机器人机动性特性的不同要求。为了能够应对未来的需求，似乎有必要开发具有多种操作模式的运动学复杂系统。在机器人技术中经常被忽视，但在自然界中广泛使用的是脊柱引入的自由度。本文介绍了原始人机器人Charlie的最新研究成果，该机器人的形态以黑猩猩为导向，由于其机电结构和自由度，具有在不同姿态下以不同步态行走的可能性。除了四肢的自由度外，机器人还具有主动人造脊柱，在结构中配备了传感器，可以双重使用；既可以作为结构部件，也可以作为6自由度力/扭矩传感器。本文通过实验分析了主动脊柱的优点。结果表明，该方法改进了对运动范围的探索，降低了对关节速度的要求。
With increasing mechanization of our daily lives, the expectations and demands in robotic systems increase in the general public and in scientists alike. Especially disaster scenarios shows that the robotic systems not only have to face a variety of different tasks during operation but also have to deal with different demands regarding the robot's mobility characteristics. To be able to cope with future requirements, it seems necessary to develop kinematically complex systems that feature several operating modes. Often disregarded in robotics, yet extensively used in nature, are the degrees of freedom introduced by the spine. This paper presents the latest work on the hominid robot Charlie, whose morphology is oriented on chimpanzees and which has the possibility due to its electromechanical structure and the degrees of freedom to walk with different gaits in different postures. Besides its degrees of freedom in its limbs, the robot features an active artificial spine, equipped with sensors in the structure to allow a dual use; both as a structural part as well as a 6-DoF force/torque sensor. This paper analyses the benefits of an active spine experimentally. The results show, that the exploration of the range of motion is improved and that less requirements on joint velocities are lowered.