Deformable Octahedron Burrowing Robot
Deformable Octahedron Burrowing Robot
复制标题
可变形八面体穴居机器人
DOI：
10.7551/978-0-262-31050-5-ch057
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Shuguang Li
中科院分区：
文献类型：
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作者：
J. Zagal;Cristobal Armstrong;Shuguang Li
本文探索了一种可变形的八面体机器人作为一种替代方案来自主探索复杂的受限空间、空洞和隧道结构。目前的机器人平台在穿过复杂的洞穴部分时缺乏调整形状的能力。讨论了可变形八面体平台的几何和动力学性质。我们使用真实和模拟的机器人来测试和合成运动控制器，这些控制器允许我们的机器人沿着隧道开挖试验台的不同部分行驶。进化方法使我们能够自动生产管内运动控制器。我们演示了蠕动能力、不同的变形模式和体积适应能力。对管道弯头和支管内部的运动能力进行了评估。我们的结果表明，这种类型的可变形机器人具有沿受限空间行走的潜力。
This paper explores the use of a deformable octahedron robot as an alternative for the autonomous exploration of complex confined spaces, voids and tunneling structures. Current robotic platforms lack the capabilities for adapting their shape when moving through intricate sections of cavities. We discuss the geometrical and dynamical properties of a deformable octahedral platform. We use real and simulated robots to test and synthesize locomotion controllers that allow our robots to travel along different portions of a tunneling test bed. Evolutionary methods allow us to automatically produce controllers for in-pipe motion. We demonstrate the capabilities of peristaltic locomotion, different modes of deformation and volumetric adaptation. An evaluation of motion capabilities inside pipe elbows and branches is performed. Our results suggest that this type of deformable robot has a potential for travelling along confined spaces.