Design, Modeling, and Control of a Quadruped Robot SPIDAR: Spherically Vectorable and Distributed Rotors Assisted Air-Ground Quadruped Robot
Design, Modeling, and Control of a Quadruped Robot SPIDAR: Spherically Vectorable and Distributed Rotors Assisted Air-Ground Quadruped Robot
复制标题
四足机器人的设计、建模和控制 SPIDAR：球形矢量分布式转子辅助空地四足机器人
DOI：
10.1109/lra.2023.3272285
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发表时间：
2023
影响因子：
5.2
通讯作者：
Takuzumi Nishio
中科院分区：
文献类型：
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作者：
Moju Zhao;T. Anzai;Takuzumi Nishio
多模态运动能力是机器人领域的一个新兴课题，各种新型的移动的机器人已经被开发出来，以实现陆地和空中的机动。在这些混合机器人中，几个国家的最先进的双足机器人，使复杂的步行运动，这是交织在一起的飞行。这些机器人也希望具有操纵能力;然而，由于转子的集中布置，目前的形式很难在半空中保持关节运动的稳定性。因此，在这项工作中，我们开发了一种新的空-地四足机器人称为SPIDAR，它是由分布在每个链接的球形矢量转子，使步行运动和变形飞行的协助。首先，我们提出了一个独特的机械设计四足机器人，使地面和空中运动。然后，我们揭示了这种混合机器人平台的建模方法，并进一步开发了一个集成的控制策略，步行和飞行关节运动。最后，我们证明了所提出的混合四足机器人的可行性，通过执行一个无缝的运动，涉及静态行走和随后的飞行。据我们所知，这项工作是第一次实现一个四足机器人多模态运动能力。
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several state-of-the-art bipedal robots enable the complex walking motion which is interlaced with flying. These robots are also desired to have the manipulation ability; however, it is difficult for the current forms to keep stability with the joint motion in midair due to the centralized rotor arrangement. Therefore, in this work, we develop a novel air-ground quadruped robot called SPIDAR which is assisted by spherically vectorable rotors distributed in each link to enable both walking motion and transformable flight. First, we present a unique mechanical design for quadruped robot that enables terrestrial and aerial locomotion. We then reveal the modeling method for this hybrid robot platform, and further develop an integrated control strategy for both walking and flying with joint motion. Finally, we demonstrate the feasibility of the proposed hybrid quadruped robot by performing a seamless motion that involves static walking and subsequent flight. To the best of our knowledge, this work is the first to achieve a quadruped robot with multimodal locomotion capability.
学习推进器辅助人形机器人的敏捷混合全身运动技能
DOI：
10.1109/iros47612.2022.9981974
发表时间：
2022
期刊：
in Proceedings of The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems,
影响因子：
--
作者：
Shi Fan;Anzai Tomoki;Kojio Yuta;Okada Kei;Inaba Masayuki
通讯作者：
Inaba Masayuki