Ramus: A Frequency-Multiplexed Power Bus for Powering, Sensing and Controlling Robots
Ramus: A Frequency-Multiplexed Power Bus for Powering, Sensing and Controlling Robots
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Ramus：用于为机器人供电、传感和控制的频率复用电源总线
DOI：
10.1109/lra.2020.2988176
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发表时间：
2020
影响因子：
5.2
通讯作者：
Kawahara Yoshihiro
中科院分区：
文献类型：
--
作者：
Nishizawa Yuki;Sasatani Takuya;Ishige Matthew;Narusue Yoshiaki;Umedachi Takuya;Kawahara Yoshihiro
随着机器人变得越来越复杂、小巧和复杂，布线所需的成本和工作量变得至关重要；复杂的布线使制造成本高昂，并需要关心导线的空间和刚度，这可以抑制软体机器人的变形。通过共享总线对多个从属模块(例如，执行器、传感器)进行供电、控制和监控的电源总线概念是应对这一挑战的一种对策。然而，实时处理许多从模块仍然是一个未解决的问题；先前的工作遭受与从模块的数量相对应的延迟，或者在每个从模块中需要丰富的信号处理单元，这使得它们不适合控制大量的执行器。为了解决这个问题，我们提出了一种频率多路复用电源总线，它集成了带通滤波器和负载调制通信；我们的方法使我们能够通过一对线同时对所有从模块进行供电、控制和监控。通过分析和实验，我们证明了在9 MHz的频段内可以容纳8个节点，并且可以独立控制；最后，利用Ramus成功地驱动了一个具有4个传感器和执行器的类似毛毛虫的机器人。
As robots become more complex, small, and sophisticated, the cost and effort necessary for “wiring” become critical; the complex wiring makes the fabrication costly and necessitates care about space and stiffness of wires, which can inhibit the deformation of soft-bodied robots. The concept of power bus, which powers, controls, and monitors multiple slave modules (e.g., actuators, sensors) via a shared bus is one countermeasure for this challenge. However, handling many slave modules in real-time remains an unsolved issue; prior work suffers from a delay corresponding to the number of slaves or requires a rich signal processing unit in each slave module, which makes them unsuitable for controlling numerous actuators. To address this issue, we propose a frequency-multiplexed power bus, which integrates bandpass filters and load-modulation communication; our method enables us to power, control, and monitor all slave modules at once via a single pair of wires. Through analysis and experiments, we showed that eight nodes can be accommodated within a 9 MHz frequency band and can be independently controlled; finally, a caterpillar-like robot with four sensors and actuators was successfully driven by Ramus.