Research into resilient under-actuated robots

弹性欠驱动机器人的研究

• 批准号: RGPIN-2016-06007
• 负责人: Zhang, Wenjun
• 金额: $ 2.77万
• 依托单位: University of Saskatchewan
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638740
• 关键词: Research; into; resilient; under; actuated

Resilience of engineering systems has gained much attention since 2006. Resilience characterizes a system in terms of its ability to recover from any mishap through its own resources and power. The motivation of the proposed research comes from our understanding of the importance of resilient systems, especially resilient robotic systems. The long-term goal of this research program is to establish resilience engineering in systems, especially robotic systems. To ensure the research results will be most widely applicable, the proposed research will be based on under-actuated robots, which are the most general and the most complex type of robots. There are four short-term goals of the proposed research (in brief): (1) designing resilient under-actuated robots for enabling as many recovery principles as possible; (2) finding the best configuration of a robot to recover lost function due to partial damage of the robot (e.g. one leg lost); (3) designing a connector for enabling active, passive, and fixed joints and disjoints to facilitate self-changes of the partially damaged robot; (4) planning and scheduling the self-change process to achieve the best configuration of the robot.

自2006年以来，工程系统的复原力受到了广泛关注。复原力是一个系统通过自身资源和力量从任何灾难中恢复的能力。提出研究的动机来自于我们对弹性系统，特别是弹性机器人系统的重要性的理解。该研究计划的长期目标是在系统中建立弹性工程，特别是机器人系统。为确保研究成果具有最广泛的适用性，本文将以欠驱动机器人为研究对象，欠驱动机器人是机器人中最通用、最复杂的类型。本研究提出了四个短期目标（简而言之）：（1）设计弹性欠驱动机器人以实现尽可能多的恢复原理;（2）找到机器人的最佳配置以恢复由于机器人的部分损坏而失去的功能（3）设计一种连接器，用于实现主动、被动和固定关节和分离，以促进部分损坏的机器人的自我改变;（4）规划和调度机器人的自变换过程，实现机器人的最佳构形。