Sensor-Based Control of a Mechanical Snake

基于传感器的机械蛇控制

• 批准号: 9112717
• 负责人: Yoram Koren
• 金额: $ 21.98万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1991
• 资助国家: 美国
• 起止时间: 1991-11-15 至 1994-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9112717&HistoricalAwards=false
• 关键词: Sensor; Based; Control; Mechanical; Snake

This research explores sensor-based control of a mechanical snake through development of obstacle-avoidance and motion-planning algorithms. The mechanical snake is robot-like mechanism, a prototype of which is now being tested in the laboratory. It consists of a sensorized head link (that detects obstacles) and six identical regular links (that provide motion). As an obstacle is detected, the computer in the head link will be able to recommend a motion of each link so that when that link arrives in the neighborhood of the obstacle it will not collide with it. Developing the algorithms to make this system work is a far more challenging problem than the state-of-the-art, real-time collision avoidance strategies currently in use for mobile robots and robot arms. When completed, the snake will be able to move into areas that people cannot enter (e.g., small cracks in collapsed highway after an earthquake) or are too dangerous for people (e.g., a radioactive environment). At these locations, the will perform surveillance (e.g., look for survivors through remote video, check radioactivity levels) or a task (e.g., bring medicine to survivors).

本研究探讨了基于传感器的机械蛇的控制 通过开发避障和运动规划 算法 机械蛇是一种类似机器人的机构， 其原型目前正在实验室进行测试。 它 由传感器化头部链接（检测障碍物）组成， 六个相同的规则链接（提供运动）。 作为 如果探测到障碍物，头部链接中的计算机将能够 来推荐每个链接的运动，以便当链接到达时， 在障碍物附近，它不会与之碰撞。 开发算法来使这个系统工作是一个远远超过 比最先进的、实时的 目前用于移动的机器人的避碰策略 和机器人手臂 完成后，蛇将能够移动 进入人们不能进入的区域（例如，小裂缝 地震后倒塌的公路）或太危险， 人（例如，放射性环境）。 在这些地点， 将执行监视（例如，寻找幸存者， 远程视频，检查放射性水平）或任务（例如，带来 幸存者的药物）。