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: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=709793
• 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. The proposed research is anticipated to produce theories and methodologies for the design and operation of under-actuated robotics systems with resilient behavior. The program will also produce several prototypes of resilient robotic systems. The proposed research has a couple of intellectual merits. The notion of the resilient under-actuated robot has not been studied in the literature despite its benefits in terms of generality, capability, and cost-effectiveness. In fact, humans are under-actuated with many passive joints and structures. Resilient robotic systems which only have active modules with some structures are a special case of the under-actuated robot, so the knowledge generated for under-actuated robots is applicable to self-reconfigurable autonomous modular robots in literature. The resilient behavior of robots adds value to society. For instance, resilient robots in a battlefield situation can have a higher chance to win against the enemy, as the longevity of combat capability delivery in battlefields is certainly a critical factor. The resilient behavior of rescuer robots for disasters such as nuclear power plant accidents and earthquakes is highly desired, because in those situations, the environment in which the robots need to interact is dynamic, and there is higher chance for the robots to get damaged.

自2006年以来，工程系统的弹性就引起了很多关注。弹性在其通过自己的资源和权力从任何不幸恢复的能力方面具有特征。拟议研究的动机来自我们对弹性系统的重要性，尤其是弹性机器人系统的理解。该研究计划的长期目标是在系统，尤其是机器人系统中建立弹性工程。为了确保研究结果将是最广泛的适用，拟议的研究将基于发动不足的机器人，该机器人是最一般和最复杂的机器人。拟议的研究有四个短期目标（简而言之）：（1）设计弹性不足的机器人，以实现尽可能多的恢复原则； （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恢复损失的功能（例如，一条腿丢失）； （3）设计一个连接器，以实现主动，被动和固定关节和脱节，以促进部分损坏的机器人的自我改变； （4）计划和计划自我改变过程，以实现机器人的最佳配置。 预计该拟议的研究将为具有弹性行为的型机器人系统的设计和操作产生理论和方法。该程序还将生成几种弹性机器人系统的原型。拟议的研究具有几个智力优点。尽管在一般性，能力和成本效益方面有好处，但在文献中尚未研究弹性较低的机器人的概念。实际上，人类在许多被动的关节和结构中都无法实施。仅具有某些结构的活动模块的弹性机器人系统是散发不足的机器人的一种特殊情况，因此针对未经启动的机器人生成的知识适用于文献中的自治自主模块化机器人。 机器人的弹性行为为社会增加了价值。例如，战场上有弹性的机器人可能有更高的机会击败敌人，因为战场上战斗能力的寿命无疑是关键因素。救援机器人对诸如核电站事故和地震等灾难的弹性行为是高度期望的，因为在那些情况下，机器人需要进行相互作用的环境是动态的，并且机器人损坏的机会更高。