Shape-Based Compliance in Locomotion
Shape-Based Compliance in Locomotion
复制标题
基于形状的运动顺应性
DOI：
10.15607/rss.2016.xii.020
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
H. Choset
中科院分区：
文献类型：
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作者：
M. Travers;Julian Whitman;Perrin E. Schiebel;D. Goldman;H. Choset
拥有多个自由度既是福，也是祸。具有大量自由度的机构可以更好地适应复杂环境，从而更好地在复杂环境中运动。然而，只有当系统能够协调它们以实时实现预期目标时，拥有多个自由度才是一种优势。这项工作支持了这样一种观点，即需要在常规规划和控制之间建立一个中间抽象层，以便能够在复杂地形中实现关节系统的健壮运动。这种抽象的基础是这样一个概念，即系统的形状可以用来捕捉关节-关节耦合，并提供一组直观的可控参数，使系统实时适应环境。本文提出了一个可推广的框架，它根据形状函数来指定所需的形状。我们展示了如何使用形状函数在一个直接控制形状参数的兼容控制框架中将低级控制器与高级计划员联系起来。由此产生的基于形状的控制器产生的行为使机器人能够顽强地在未知环境中摸索前进。将该框架应用于蛇形机器人和六足机器人两种不同机构的控制。
Having many degrees of freedom is both a blessing and a curse. A mechanism with a large number of degrees of freedom can better comply to and therefore better move in complex environments. Yet, possessing many degrees of freedom is only an advantage if the system is capable of coordinating them to achieve desired goals in realtime. This work supports the belief that a middle layer of abstraction between conventional planning and control is needed to enable robust locomotion of articulated systems in complex terrains. The basis for this abstraction is the notion that a system’s shape can be used to capture jointto-joint coupling and provide an intuitive set of controllable parameters that adapt the system to the environment in real time. This paper presents a generalizable framework that specifies desired shapes in terms of shape functions. We show how shape functions can be used to link low-level controllers to high-level planners in a compliant control framework that directly controls shape parameters. The resultant shape-based controllers produce behaviors that enable robots to robustly feel their way through unknown environments. This framework is applied to the control of two separate mechanisms, a snake-like and a hexapod robot.