Using local force measurements to guide construction by distributed climbing robots
Using local force measurements to guide construction by distributed climbing robots
复制标题
使用局部力测量来指导分布式攀爬机器人的施工
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Justin Werfel
中科院分区：
文献类型：
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作者：
Nathan Melenbrink;P. Michalatos;P. Kassabian;Justin Werfel
历史上，建筑自动化一直由特定任务的自上而下实现驱动，这些任务对动态情况既没有响应也没有弹性，并且通常需要集中控制或人工监督。以前的机器人装配工作通常忽略了考虑作用在结构上的力，无论是在单独完成的结构中还是在整个建造过程中。在本文中，我们调查的实用程序的本地力测量指导建设的一个分布式团队的支柱攀爬机器人，重点是一个场景，涉及建设一个无支撑的跨度跨越一个缺口，在一个二维的垂直平面，作为一个步骤，建设一座桥梁。我们表明，这样的测量使机器人能够建立悬臂结构，显着进一步比机器人没有访问这些信息，而在整个建设序列的稳定性。我们认为这两个结构安全地锚定在地面上，那些休息无锚在它上面，在后一种情况下，使用平衡的方法，允许杠杆。在模拟中探索的原则也证明了在硬件中，包括一个原型的支柱攀爬机器人和桁架组件，结合了一个具有成本效益的传感器的实施，报告所需的力的信息。
Construction automation has historically been driven by top-down implementations of specific tasks, which are neither responsive nor resilient to dynamic situations, and often require centralized control or human supervision. Previous work on robotic assembly has generally neglected to consider forces acting on the structure, whether in the completed structure alone or throughout the building process. In this paper, we investigate the utility of local force measurements in guiding construction by a distributed team of strut-climbing robots, focusing on a scenario involving building an unsupported span out across a gap in a two-dimensional vertical plane, as a step towards building a bridge. We show that such measurements enable robots to build structures that cantilever significantly further than those built by robots without access to such information, while maintainig stability throughout the building sequence. We consider both structures securely anchored to the ground and those resting unanchored atop it, using a counterbalancing approach in the latter case to permit cantilevering. The principles explored in simulation are also demonstrated in hardware, including a prototype strut-climbing robot and truss components, incorporating a cost-effective sensor implementation that reports the requisite force information.