Benchmarking Agility For Multilegged Terrestrial Robots
Benchmarking Agility For Multilegged Terrestrial Robots
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DOI：
10.1109/tro.2018.2888977
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发表时间：
2019-04-01
影响因子：
7.8
通讯作者：
Ijspeert, Auke J.
中科院分区：
文献类型：
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作者：
Eckert, Peter;Ijspeert, Auke J.
在本文中，我们提出了一种新颖且实用的敏捷性基准测试方法。我们专注于仿生机器人领域的陆地多足运动。我们将敏捷性定义为以快速有效的方式执行一组不同但特定的任务的能力。这个定义的灵感来自于对自然角色模型的分析，例如狗和马以及机器人系统。对机器人技术现有基准的评估已经完成，并在我们提出的基准中得到考虑。在一般定义之后，定义了实际的标准化基准值，并提出了测量方法以及敏捷性分数收集和分配的在线数据库。为了提供敏捷运动的基线，分析了狗敏捷性比赛的各种视频，并计算了适用的敏捷性分数。最后，使用作者直接可用的不同机器人来完成基准的验证和实施。总之，我们的基准不仅使研究人员能够比较现有的机器人并找出不同设计方法的优点和缺点，而且还提供了一个工具来定义新的适应函数，用于优化、学习过程和未来的机器人开发，从而进一步加强生物学和技术之间的联系。
In this paper, we present a novel and practical approach for benchmarking agility. We focus on terrestrial, multilegged locomotion in the field of bio-inspired robotics. We define agility as the ability to perform a set of different but specific tasks executed in a fast and efficient manner. This definition is inspired by the analysis of natural role models, such as dogs and horses as well as robotic systems. An evaluation of existing benchmarks in robotics is done and taken into account in our proposed benchmark. After the general definition, the actual normalized benchmarking values are defined, and measuring methods, as well as an online database for agility score collection and distribution, are presented. To provide a baseline for agile locomotion, various videos of dog-agility competitions were analyzed and agility scores calculated wherever applicable. Finally, validation and implementation of the benchmark are done with different robots directly available to the authors. In conclusion, our benchmark will enable researchers not only to compare existing robots and find out strengths and weaknesses in different design approaches, but also give a tool to define new fitness functions for optimization, learning processes, and future robots developments, intensifying the links between biology and technology even further.