Shape Control of Compliant, Articulated Meshes: Towards Modular Active-Cell Robots (MACROs)
Shape Control of Compliant, Articulated Meshes: Towards Modular Active-Cell Robots (MACROs)
复制标题
顺从的铰接网格的形状控制：迈向模块化主动单元机器人 (MACRO)
DOI：
10.1109/lra.2017.2714146
复制
发表时间：
2017
影响因子：
5.2
通讯作者：
A. Dollar
中科院分区：
文献类型：
--
作者：
Ahsan I. Nawroj;A. Dollar
在这封信中，我们探讨了由基于形状记忆合金（SMA）的线性执行器（Active Cells）创建的柔性铰接网格的形状控制。这些柔性网格构成了一类提出的模块化活动单元机器人（MACROs）的机械子系统。我们的“活性细胞”是厘米级SMA致动器，能够承受~ 25%的线性应变。在之前的工作中，建模和验证了MACRO网格对被动节点电流输入响应的变形。在这封信中，我们研究了一种高效且可扩展的控制策略，该策略允许我们通过电动驱动给定的MACRO来实现指定的形状。在一系列MACRO仿真上的验证实验建立了该控制器的高度准确性和可重复性。结果表明，该控制策略对初始形状和目标形状以及网格复杂度的变化具有良好的鲁棒性。
In this letter, we explore the shape control of compliant, articulated meshes created from shape memory alloy (SMA)-based linear actuators (Active Cells). These compliant meshes form the mechanical subsystem of a class of proposed modular active-cell robots (MACROs). Our “Active Cells” are centimeter-scale SMA actuators capable of ∼25% linear strain. The deformation of MACRO meshes in response to current inputs at the passive nodes are modeled and validated for accuracy in prior work. In this letter, we investigate an efficient and scalable control policy that allows us a given MACRO to be electrically-driven to achieve a specified shape. Validation experiments on a range of MACRO simulations establish a high degree of accuracy and repeatability of the controller. The control strategy is shown to be efficient and robust to variations in start- and target-shapes, and in mesh complexity.