Directional Compliance in Obstacle-Aided Navigation for Snake Robots
Directional Compliance in Obstacle-Aided Navigation for Snake Robots
复制标题
蛇形机器人障碍辅助导航中的方向顺应性
DOI：
10.23919/acc45564.2020.9148021
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
H. Choset
中科院分区：
文献类型：
--
作者：
Tianyu Wang;Julian Whitman;M. Travers;H. Choset
蛇形机器人有可能在拥挤复杂的环境中机动。使它们能够这样做的一个挑战是确定如何协调它们的许多自由度以创造有目的的运动的复杂性。在这项工作中考虑的地形类型中尤其如此：充满未建模特征的环境，即使是最好的地图也无法捕捉到，这促使我们开发闭环控制来对这些特征做出反应。为了实现这一点，这项工作使用本体感知，主要是由蛇形机器人的关节测量的力信息，来对未建模的地形做出反应。我们引入了一种受生物学启发的策略，称为方向顺应，它调节机器人的有效刚度，使其在某些方向上符合地形，而在其他方向上抵抗地形。我们提出了一个动态系统，可以在运动模式之间切换，以处理机器人被楔入或卡住的情况。这种方法使蛇机器人能够可靠地穿越平面peg阵列和室外三维岩石堆。
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful motion. This is especially true in the types of terrains considered in this work: environments full of unmodeled features that even the best of maps would not capture, motivating us to develop closed-loop controls to react to those features. To accomplish this, this work uses proprioceptive sensing, mainly the force information measured by the snake robot’s joints, to react to unmodeled terrain. We introduce a biologically-inspired strategy called directional compliance which modulates the effective stiffness of the robot so that it conforms to the terrain in some directions and resists in others. We present a dynamical system that switches between modes of locomotion to handle situations in which the robot gets wedged or stuck. This approach enables the snake robot to reliably traverse a planar peg array and an outdoor three-dimensional pile of rocks.
机械衍射揭示了被动动力学在蛇滑行中的作用
DOI：
10.1073/pnas.1808675116
发表时间：
2019
期刊：
Proceedings of the National Academy of Sciences
影响因子：
--
作者：
Schiebel, Perrin E.;Rieser, Jennifer M.;Hubbard, Alex M.;Chen, Lillian;Rocklin, D. Zeb;Goldman, Daniel I.
通讯作者：
Goldman, Daniel I.