Progress in spatial robot juggling
Progress in spatial robot juggling
复制标题
空间机器人杂耍研究进展
DOI：
10.1109/robot.1992.220275
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发表时间：
1992
期刊：
影响因子：
--
通讯作者：
D. Koditschek
中科院分区：
文献类型：
--
作者：
A. Rizzi;D. Koditschek
作者回顾了他们的进展，迄今为止，在诱导动态灵巧的行为，从3-d.o.f.直接驱动机器人操作器，其实时立体摄像机在高度结构化的照明条件下提供多个自由落体的60 Hz采样图像。目前，机器人能够迫使一个单一的乒乓球进入一个指定的稳态（近）周期性的垂直运动，通过反复控制的影响与刚性桨。机器人在长时间内（通常是数千次撞击）保持稳态行为，并且能够从球飞行阶段的重大意外对抗性扰动中恢复。增益调谐实验证实了作者的论点，即机器人的可靠性的稳定机制可以归因于相同的非线性动力学负责类似的行为在以前的1-d.o.f.机器人<<ETX>>
The authors review their progress to date in eliciting dynamically dexterous behaviors from a 3-d.o.f. direct drive robot manipulator whose real-time stereo cameras provide 60 Hz sampled images of multiple freely falling bodies in highly structured lighting conditions. At present, the robot is capable of forcing a single ping-pong ball into a specified steady-state (near) periodic vertical motion by repeated controlled impacts with a rigid paddle. The robot sustains the steady-state behavior over long periods (typically many thousands of impacts) and is capable of recovering from significant unexpected adversarial perturbations of the ball's flight phase. Gain tuning experiments corroborate the authors' contention that the stability mechanism underlying the robot's reliability can be attributed to the same nonlinear dynamics responsible for analogous behavior in a previous 1-d.o.f. robot.<<ETX>>