Construction and Excavation by Collaborative Double-Tailed SAW Robots
Construction and Excavation by Collaborative Double-Tailed SAW Robots
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DOI：
10.1109/lra.2022.3146562
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发表时间：
2022-04-01
影响因子：
5.2
通讯作者：
Petersen, Kirstin H.
中科院分区：
文献类型：
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作者：
Huang, Luyang Robby;Zhu, Alexander;Petersen, Kirstin H.
我们描述了一个极简的机器人机制，能够在干燥的颗粒状材料，包括运动，攀爬，平整，减法，加法，运输和挖掘的许多建设行为。该设计扩展到一个单一的致动器波机制的洞察力，尾巴可以用于运动和操纵颗粒。为简单起见，实验限于2手动控制或2开环机器人在一个准2D垂直竞技场充满包装花生。我们演示和表征单和多机器人系统的建设，特别注意如何机制的改进，自主性和3D操作可以实现。值得注意的是，我们发现大多数行为都是鲁棒的，也就是说，机器人可以通过开环控制实现预期的功能，在很大程度上消除了对复杂感知的需求。实验表明，一个前所未有的，简单的机器人解决方案，许多经典的建设挑战。
We describe a minimalistic robot mechanism that is capable of many construction behaviors in dry granular material including locomotion, climbing, leveling, subtraction, addition, transport, and burrowing. The design extends upon a single-actuator wave mechanism with the insight that the tails can be used both for locomotion in and manipulation of granules. For simplicity, experiments are limited to 2 manually controlled or 2 open loop robots operating in a quasi-2D vertical arena filled with packing peanuts. We demonstrate and characterize construction by single- and multi-robot systems, with special attention to how mechanism improvement, autonomy, and 3D operation could be achieved. Remarkably, we find that the majority of behaviors are robust - that is, the robots can achieve the intended functionality through open loop control, largely eliminating the need for sophisticated perception. The experiments indicate an unprecedented, simple robotic solution to many of the classic construction challenges.