LASDRA: Large-Size Aerial Skeleton System with Distributed Rotor Actuation
LASDRA: Large-Size Aerial Skeleton System with Distributed Rotor Actuation
复制标题
LASDRA：具有分布式转子驱动的大型空中骨架系统
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Dongjun Lee
中科院分区：
文献类型：
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作者：
Hyunsoo Yang;Sangyul Park;Jeongseob Lee;Joonmo Ahn;Dongwon Son;Dongjun Lee
机器人中广泛应用的电机和液压驱动是“内驱动”，其执行机构位于两个连杆之间的连接处。这种内部驱动从根本上限制了构建大型灵巧关节机器人，因为任何外力（及其自身的连杆重量）都会累积到基座上乘以力臂长度，随着系统尺寸的增加，需要非常强大/坚固的基座驱动器/结构。本文提出了一种新型机器人系统LASDRA (large-size aerial skeleton with distributed rotor actuator)，利用分布式转子作为“外部驱动”，克服了内部驱动的局限性，实现了大型灵巧关节机器人。我们提出了它的设计和建模，联合锁定策略，以增加其负载能力，以及一种新的分散控制方案，以允许兼容的操作与可扩展性的链路数量。通过轨迹跟踪和气门翻转实验对理论进行了验证。
Electrical motor and hydraulic actuation widely-used in robotics are “internal actuation” with their actuators sitting at the joint between two links. This internal actuation is fundamentally limiting to construct a large-size dexterously-articulated robot, since any external force (and its own link weight) is to be accumulated to the base multiplied by the moment arm length, requiring extremely strong/sturdy base actuator/structure as the system size increases. In this paper, we propose a novel robotic system, LASDRA (large-size aerial skeleton with distributed rotor actuation), which, by utilizing distributed rotors as “external actuation”, can overcome this limitation of internal actuation and enables us to realize large-size dexterously-articulated robots. We present its design and modeling, joint locking strategy to increase its loading capability, and also a novel decentralized control scheme to allow for compliant operation with scalability against the number of links. Trajectory tracking and valve turning experiments are also performed to validate the theory.
影响因子：
25
作者：
Hawkes, Elliot W.;Blumenschein, Laura H.;Okamura, Allison M.
通讯作者：
Okamura, Allison M.