Compliant Frame Modular Mobile Robotic Systems

摘要提案#0308056标题：柔性框架模块化移动机器人系统spi: Minor， mark犹他大学柔性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轴模块和灵活的框架模块组成，这些模块可以提供灵活的横摇、俯仰和偏航，用于悬挂和高度可控的转向，而无需额外的硬件。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。针对双轴侦察车配置的初步研究，推导了基于曲率的规划算法，优化了能量使用和控制权限，开发了动态运动控制的模块化模型结构，并建立了传感器硬件和融合算法，以改进姿势评估。然而，更复杂的结构引入了复杂的非完整约束和运动规划和动态稳定的额外挑战。因此，本研究探讨了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，重点放在底层稳定和规划算法上，这也需要传感器融合算法的进一步模块化。这项研究的智力价值在于它研究了一种新颖的、以前未被探索过的实现可扩展移动机器人系统的方法。这个系统在扩展移动机器人在空间探索、军事服务、甚至农业、采矿和林业方面的服务方面的潜力是巨大的。更广泛的影响将在机器人社区、犹他大学的教育过程和犹他州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。本科机电课程将会有实验室实验和设计实例，研究生控制课程将会有实际的例子和实验平台。学生与移动机器人互动并了解更多底层技术的拓展活动已经开展，并将继续取得进一步的进展。

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.