A hybrid hydrostatic transmission and human-safe haptic telepresence robot
A hybrid hydrostatic transmission and human-safe haptic telepresence robot
复制标题
混合静液压传动和人体安全触觉远程呈现机器人
DOI：
10.1109/icra.2016.7487195
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
J. Hodgins
中科院分区：
文献类型：
--
作者：
J. P. Whitney;Tianyao Chen;John Mars;J. Hodgins
我们提出了一种新型的静液传动，它采用空气-水混合结构，类似于N+1索-腱传动，在N个自由度的系统中使用N个液压管路和1个气动管路。公共充气线预加载系统中的所有自由度，允许每个关节的双向操作。这种配置实现了充满水的变速器的高刚性，而笨重的液压管路数量只有它的一半。我们使用一对滚动隔膜气缸来实现这种传动，形成旋转液压执行器，采用新的设计，实现了每个循环比工作密度增加600%。这些致动器被用来建造一个有两个4自由度手臂的人形机器人，通过静液传动连接到一个相同的主控器上。安装在2-DOF伺服控制的颈部的立体摄像机将实时视频传输到操作员的头盔显示器，进而将操作员头部的实时姿态发送到机器人的颈部伺服系统。操作员视觉上沉浸在机器人的物理工作空间中，通过低阻抗静液传动的双向耦合，直接感受到机器人与外部环境之间的相互作用力。我们定性地评估了该系统在远程对象操作方面的性能，并将其用作安全研究人-机器人物理交互的平台。
We present a new type of hydrostatic transmission that uses a hybrid air-water configuration, analogous to N+1 cable-tendon transmissions, using N hydraulic lines and 1 pneumatic line for a system with N degrees of freedom (DOFs). The common air-filled line preloads all DOFs in the system, allowing bidirectional operation of every joint. This configuration achieves the high stiffness of a water-filled transmission with half the number of bulky hydraulic lines. We implemented this transmission using pairs of rolling-diaphragm cylinders to form rotary hydraulic actuators, with a new design achieving a 600-percent increase in specific work density per cycle. These actuators were used to build a humanoid robot with two 4-DOF arms, connected via the hydrostatic transmission to an identical master. Stereo cameras mounted on a 2-DOF servo-controlled neck stream live video to the operator's head-mounted display, which in turn sends the real-time attitude of the operator's head to the neck servos in the robot. The operator is visually immersed in the robot's physical workspace, and through the bilateral coupling of the low-impedance hydrostatic transmission, directly feels interaction forces between the robot and external environment. We qualitatively assessed the performance of this system for remote object manipulation and use as a platform to safely study physical human-robot interaction.