Design and Development for Humanoid-Vehicle Transformer Platform with Plastic Resin Structure and Distributed Redundant Sensors
Design and Development for Humanoid-Vehicle Transformer Platform with Plastic Resin Structure and Distributed Redundant Sensors
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塑料树脂结构分布式冗余传感器仿人车载变压器平台的设计与开发
DOI：
10.1109/icra46639.2022.9811683
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Inaba Masayuki
中科院分区：
文献类型：
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作者：
Makabe Tasuku;Hiraoka Naoki;Noda Shintaro;Anzai Tomoki;Kimura Kohei;Hattori Mirai;Sato Hiroya;Sugai Fumihito;Kakiuchi Yohei;Okada Kei;Inaba Masayuki
仿人机器人可以根据自己的目的将自己转变成一种形式，需要全身运动和复杂的接触状态转换，例如从跌倒中恢复到目标形态。为了使机器人在模拟中的行为更接近于现实世界中规划复杂目标轨迹的行为，我们需要一个能够在运动过程中测量身体刚度并验证其应用的平台，而不会被容易翻倒的重复运动所破坏。在这项研究中，我们提出了一种小型、廉价、坚固的人形车辆变压器平台，该平台具有冗余传感器和低刚度多自由度车身，并观察了全身姿势转换过程中车身挠度和内力的影响。通过比较不同摩擦环境下的实验结果和使用刚体模型的仿真结果，我们能够验证身体柔韧性对全身运动的影响，以及冗余传感器观察到的挠度和扳手与运动失效之间的关系。
The humanoid robot that can transform itself into a form according to its purpose requires whole-body motions with complex contact state transitions such as recovery from a fall and transition to the target form. To make the robot behavior in simulations closer to that in the real world for planning complex target trajectories, we need a platform that can measure the body stiffness during the motion and verify its application without being damaged by repeated motions that are prone to tipping over. In this study, we propose a small, inexpensive, and robust humanoid-vehicle transformer platform with redundant sensors and a low rigidity multi degree-of-freedom body and observe the effects of body deflection and internal forces during whole-body posture transition. By comparing the results obtained from experiments in several environments with different friction and from the simulator using a rigid body model, we were able to verify the influence of body flexibility on whole-body motion and the relationship between deflection and wrench observed by redundant sensors and movement failure.