An obstacle-interaction planning method for navigation of actuated vine robots
An obstacle-interaction planning method for navigation of actuated vine robots
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DOI：
10.1109/icra40945.2020.9196587
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发表时间：
2020-05
期刊：
影响因子：
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通讯作者：
M. Selvaggio;L. A. Ramirez;Nicholas D. Naclerio;B. Siciliano;E. Hawkes
中科院分区：
文献类型：
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作者：
M. Selvaggio;L. A. Ramirez;Nicholas D. Naclerio;B. Siciliano;E. Hawkes
软机器人的领域基于这样的想法，即由于其固有的依从性，软机器人可以安全地与环境相互作用。因此，为软机器人开发有效的计划和控制管道应结合可靠的机器人 - 环境相互作用模型。该策略使软机器人能够有效利用联系人来自动导航和完成环境中的任务。但是，对于一类软机器人，即葡萄藤启发，延伸或“葡萄藤”机器人，此类相互作用模型以及由此产生的计划和控制策略不存在。在本文中，我们分析了藤质机器人与环境相互作用的行为，并提出了一个障碍交流模型，该模型表征了环境引起的弯曲和皱纹变形。从此开始，我们为这些机器人设计了一种新颖的障碍交流计划方法。我们展示了如何有效利用障碍物相互作用来扩大机器人尖端的可及工作空间，并通过模拟和真实的实验验证我们的发现。我们的工作提高了这类新型软机器人的能力，有助于推进软机器人的领域。
The field of soft robotics is grounded on the idea that, due to their inherent compliance, soft robots can safely interact with the environment. Thus, the development of effective planning and control pipelines for soft robots should incorporate reliable robot-environment interaction models. This strategy enables soft robots to effectively exploit contacts to autonomously navigate and accomplish tasks in the environment. However, for a class of soft robots, namely vine-inspired, tip-extending or "vine" robots, such interaction models and the resulting planning and control strategies do not exist. In this paper, we analyze the behavior of vine robots interacting with their environment and propose an obstacle-interaction model that characterizes the bending and wrinkling deformation induced by the environment. Starting from this, we devise a novel obstacle-interaction planning method for these robots. We show how obstacle interactions can be effectively leveraged to enlarge the set of reachable workspace for the robot tip, and verify our findings with both simulated and real experiments. Our work improves the capabilities of this new class of soft robot, helping to advance the field of soft robotics.