Compliant Frame Modular Mobile Robotic Systems

兼容框架模块化移动机器人系统

• 批准号: 0308056
• 负责人: Mark Minor
• 金额: $ 24.99万
• 依托单位: University of Utah
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-07-01 至 2007-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0308056&HistoricalAwards=false
• 关键词: Compliant; Frame; Modular; Mobile; Robotic

Robotics and Human Augmentation ProgramABSTRACTProposal #0308056Title: Compliant Frame Modular Mobile Robotic SystemsPI: Minor, MarkUniversity of UtahCompliant framed wheeled modular mobile robots are the subject of this research. The system consists of rigid differentially steered axle modules coupled by flexible frame modules that provide compliant roll, pitch, and yaw for suspension and highly controllable steering without added hardware. Modularity provides a structure that is easily scaled and reconfigured for a variety of applications oriented around dissimilar configurations. Preliminary studies focusing on a two-axle scout configuration have derived curvature based planning algorithms optimizing energy usage and control authority, developed a modular model structure for dynamic motion control, and established sensor hardware and fusion algorithms for improved postural evaluation. More complex configurations, however, introduce complicated nonholonomic constraints and additional challenges for motion planning and dynamic stabilization. Hence, this research investigates scalable motion planning algorithms and dynamic controllers that provide functionality to modular mobile robotic systems. These algorithms must operate within a distributed modular environment where emphasis is placed on low-level stabilization and planning algorithms, which also requires further modularization of sensor fusion algorithms.Intellectual merit of this research lies in the fact that it examines a novel, and previously unexplored, methods of realizing scalable mobile robotic systems. The potential of this system to expand the service of mobile robotics in space exploration, military service, and even agriculture, mining, and forestry, are tremendous. Broader impacts will be realized within the robotics community, the educational processes at the University of Utah, and engineering outreach activities within the state of Utah. Impact on robotics research will be realized in motion planning, dynamic control, sensor instrumentation, and group behavior. Laboratory experiments and design examples will be derived for the undergraduate mechatronics curriculum, and graduate control courses will benefit from practical examples and experimental platforms. Outreach activities where students interact with mobile robots and learn more about underlying technology have already been developed, and further advances will continue to be made.

机器人和人类增强计划STRACTProposal#0308056标题：柔顺框架模块化移动机器人系统PI：Minor，美国犹他州马克大学柔顺框架轮式模块化移动机器人是本研究的主题。该系统由刚性差动转向车桥模块和柔性框架模块组成，这些模块可在不增加硬件的情况下为悬架和高度可控的转向提供柔顺的侧倾、俯仰和偏航。模块化为面向不同配置的各种应用程序提供了一种易于扩展和重新配置的结构。针对双轴侦察配置的初步研究已经推导出了基于曲率的优化能量使用和控制权限的规划算法，开发了用于动态运动控制的模块化模型结构，并建立了用于改进姿态评估的传感器硬件和融合算法。然而，更复杂的构形引入了复杂的非完整约束，并为运动规划和动态稳定带来了额外的挑战。因此，本研究研究可扩展的运动规划算法和动态控制器，为模块化移动机器人系统提供功能。这些算法必须在分布式模块化环境中运行，其中重点放在低层稳定和规划算法上，这也要求传感器融合算法进一步模块化。本研究的智能优点在于它研究了一种实现可扩展移动机器人系统的新方法，这是以前从未探索过的。该系统在太空探索、军事服务甚至农业、采矿和林业领域扩大移动机器人服务的潜力是巨大的。更广泛的影响将在机器人社区、犹他大学的教育过程以及犹他州境内的工程推广活动中实现。对机器人研究的影响将在运动规划、动态控制、传感器仪器和群体行为方面实现。本科生的机电一体化课程将提供实验室实验和设计范例，而研究生控制课程将受益于实践范例和实验平台。已经开展了学生与移动机器人互动并了解更多基础技术的外联活动，并将继续取得进一步进展。