Pneumatic Compliant Binary Robots

气动兼容二元机器人

• 批准号: 342534-2012
• 负责人: Plante, JeanSebastien
• 金额: $ 2.26万
• 依托单位: Université de Sherbrooke
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=595597
• 关键词: Pneumatic; Compliant; Binary; Robots

Binary actuation has the potential to overcome some of the limitations of current robotic systems in terms of poor human interactions, complexity, and high cost and weight. Using simple actuators with only two states, binary systems have the potential to greatly simplify robot design and control by eliminating the need for low level joint feedback, reducing costs and increasing robustness. However, binary systems are still not widely used because of a lack of a suitable actuator system that has sufficient force/power density and simplicity to be used in large numbers (100 to 1000's).

二元驱动有可能克服当前机器人系统在人机交互差、复杂性以及高成本和重量方面的一些限制。使用仅具有两个状态的简单致动器，二元系统有可能通过消除对低级关节反馈的需要、降低成本并提高鲁棒性来大大简化机器人设计和控制。然而，由于缺乏具有足够的力/功率密度和简单性以大量（100至1000）使用的合适的致动器系统，二元系统仍然没有被广泛使用。