Robotics Research toward Explication of Everyday Physics
Robotics Research toward Explication of Everyday Physics
复制标题
解释日常物理的机器人研究
DOI：
10.1177/02783649922067717
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
S. Arimoto
中科院分区：
文献类型：
--
作者：
S. Arimoto
20世纪末人们普遍认识到，配备结构简单的末端执行器的普通6或7自由度机器人在执行人类日常生活中遇到的各种普通任务时显得笨拙。在这篇论文中，声称这种笨拙体现了我们缺乏日常物理学知识。然后表明，当手指末端被柔软且可变形的材料覆盖时，甚至一组双手指抓握和操纵刚性物体的动力学也尚未制定。通过阐述这一典型的日常物理问题，指出为了考虑如何赋予机器人灵活性和多功能性，用计算（或数学）语言解释日常物理是不可避免的。一旦描述了此类日常任务中涉及的运动学和动力学，就可以发现一种简单但精细的控制结构，而不需要大量的运动学和动力学计算。控制结构的简单性意味着对参数不确定性的鲁棒性，最终允许控制通过使用视觉或触觉传感反馈来灵活和多功能地执行任务。因此，揭开灵活性隐藏秘密的关键是表征此类机器人任务的复杂动力学，如一组被可变形材料覆盖的多关节的多手指与物体或环境进行物理交互时所看到的那样。整篇论文都指出，日常物理学遇到的动力学的一些通用特征必定是“被动性”、“坐标变换的近似雅可比矩阵”、“从感觉到动作的反馈循环”、“阻抗匹配”和“静摩擦”。
It is commonly recognized now at the end of the 20th century that a general 6- or 7-degree-of-freedom robot equipped with an endeffector with simple structure is clumsy in performing a variety of ordinary tasks that a human encounters in his or her everyday life. In this paper, it is claimed that the clumsiness manifests the lack of our knowledge of everyday physics. It is then shown that even dynamics of a set of dual fingers grasping and manipulating a rigid object are not yet formulated when the fingers’ ends are covered by soft and deformable material. By illustrating this typical problem of everyday physics, it is pointed out that explication of everyday physics in computational (or mathematical) languages is inevitable for consideration of how to endow a robot with dexterity and versatility. Once kinematics and dynamics involved in such everyday tasks are described, it is then possible to discover a simple but fine control structure without the need of much computation of kinematics and dynamics. Simplicity of the control structure implies robustness against parameter uncertainties, which eventually allows the control to perform tasks with dexterity and versatility by using visual or tactile sensing feedback. Thus, a key to uncover the hidden secret of dexterity is to characterize complicated dynamics of such a robotic task as seen when a set of multifingers with multijoints covered by deformable material interacts physically with objects or an environment. It is pointed out throughout the paper that some of the generic characteristics of dynamics that everyday physics encounters must be “passivity,” “approximate Jacobian matrix of coordinates transformation,” “feedback loops from sensation to action,” “impedance matching,” and “static friction.”