Presidential Faculty Fellows: Design and Motion Planning ofDiscrete Robotic Systems

校长研究员：离散机器人系统的设计和运动规划

• 批准号: 9453373
• 负责人: Gregory Chirikjian
• 金额: $ 37.5万
• 依托单位: Johns Hopkins University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1994
• 资助国家: 美国
• 起止时间: 1994-09-15 至 1998-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9453373&HistoricalAwards=false
• 关键词: Presidential; Faculty; Fellows; Design; Motion

The research consists of two separate projects, in discrete robotic system design and discrete motion planning. First, the kinematics, motion planning, and design of robotic mechanisms with binary actuators are investigated. Robots with binary (on-off) actuators have a finite number of states. Major benefits of binary-actuated manipulators are that they can be operated without extensive feedback control, task repeatability is very high, and two-state actuators are generally very inexpensive, thus resulting in reliable low cost robots for industrial use. Second, the design and coordination of`metamorphic' robotic systems for use in unknown environments are investigated. A metamorphic robot is a collection of independent modules each of which occupies a space in a lattice, and has the ability to locomote over adjacent modules. The morphology of the collection of modules changes as a function of the collective motion. Such self-reconfigurability gives metamorphic robots unique abilities. For instance, modules can `flow' into crevasses unreachable by fixed morphology robots, or grow to form structures which envelop objects and form stable grasps.

研究包括两个独立的项目，在离散机器人系统设计和离散运动规划。 首先，运动学，运动规划和设计的机器人机构与二元驱动器进行了研究。 具有二进制（开-关）执行器的机器人具有有限数量的状态。 双驱动机械手的主要优点是，它们可以在没有广泛的反馈控制的情况下操作，任务重复性非常高，并且双状态致动器 通常非常便宜，因此导致用于工业的可靠的低成本机器人。 使用. 第二、 的 设计 和 研究了在未知环境中使用的“变形”机器人系统的协调问题。 变形机器人是一个独立的模块的集合，每个模块占据一个空间，并具有在相邻模块上移动的能力。 模块集合的形态学根据 集体 议案 这种自我重构能力 赋予变形机器人独特的能力例如，模块可以“流入”固定形态机器人无法到达的裂缝，或者生长形成包裹物体并形成稳定抓握的结构。