DigiSnake - To Design and Develop Digitally Enhanced, Dexterous and {Teleoperated} Snake Robots.

DigiSnake - 设计和开发数字增强型、灵巧型和{远程操作}蛇形机器人。

• 批准号: 2888600
• 金额: --
• 依托单位: University of Nottingham
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2023
• 资助国家: 英国
• 起止时间: 2023 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2888600
• 关键词: DigiSnake; Design; Develop; Digitally; Enhanced

1 Understand the sources of errors then select and fuse multi-sensors for embedding closed loop control Understand the cause of the mismatch between the FBG sensors and the Ground truth, attempt to 'close the gap' of this mismatch by using sensor fusion. Look into other potential sensors which can be integrated into the snake robot.2. Static and Dynamics modelling of the Snake Robot Evaluate close loop algorithms in considering the static and dynamic operation of a snake robot3. Simulating the Robot Snake in a dynamic environment Using Coppelia to model the joints and behaviour to accurately reflect the motion of the robot snake4. Combining the multi-sensors and the simulation to build a VR environment for supporting teleoperation

1了解误差的来源，然后选择和融合多个传感器进行嵌入闭环控制了解FBG传感器和地面真实值之间不匹配的原因，尝试通过使用传感器融合来“缩小”这种不匹配的差距。看看其他潜在的传感器，可以集成到蛇机器人。蛇机器人的静态和动态建模考虑蛇机器人的静态和动态操作评估闭环算法3.在动态环境中模拟机器蛇使用Coppelia对关节和行为进行建模，以准确反映机器蛇的运动4.多传感器与仿真相结合构建支持遥操作的虚拟现实环境