Three-Dimensional Manipulation of a Spherical Object Using Ultrasound Plane Waves
Three-Dimensional Manipulation of a Spherical Object Using Ultrasound Plane Waves
复制标题
使用超声波平面波对球形物体进行三维操纵
DOI：
10.1109/lra.2018.2880330
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发表时间：
2019
影响因子：
5.2
通讯作者：
Shinoda Hiroyuki
中科院分区：
文献类型：
--
作者：
Furumoto Takuro;Hasegawa Keisuke;Makino Yasutoshi;Shinoda Hiroyuki
在这封信中，我们展示了一种新的机器人框架，其中没有板载致动器或电池的轻质气球作为一个空中机器人，在工作空间内进行三维旅行。该工作空间包含五个稀疏排列的超声换能器阵列，发射可操纵的平面波，引起对气球的声辐射力，并驱动it.The制造的系统进行基于视觉反馈的动态PID控制的气球的运动。对于系统的实际操作，我们实验建模的声辐射力施加在一个球体上。在此基础上，建立了系统动力学模型，并设计了控制律。我们构建了一个原型系统，并展示了米级的三维操纵一个200毫米直径的球形物体。我们提出的方法有利于长期的空中机器人应用，如24小时室内监控系统，没有由电池限制引起的盲点。
In this letter, we demonstrate a new robotic framework where a lightweight balloon with no onboard actuators or batteries acts as a mid-air robot that travels three-dimensionally within a workspace. The workspace contains five sparsely arranged ultrasound transducer arrays emitting steerable plane waves that cause acoustic radiation forces on the balloon and actuate it. The fabricated system performs a dynamic PID control of the movement of the balloon based on visual feedback. For practical operation of the system, we experimentally modeled the acoustic radiation force applied on a sphere. Based on the model, we developed the system dynamics model and a control law. We constructed a prototype system and demonstrated meter-scale three-dimensional manipulation of a 200 mm-diameter spherical object. Our proposed methodology is beneficial for long-term mid-air robotic applications, such as 24-h indoor surveillance system with no blind spots caused by battery limitation.