A Maneuverable Winding Gait for Snake Robots Based on a Delay-Aware Swing and Grasp Framework Combining Rules and Learning Methods

IF 4.6 2区 计算机科学 Q2 ROBOTICS
Fengwei Sheng;Fuxi Wan;Chaoquan Tang;Xian Guo
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引用次数: 0

Abstract

Due to the high redundant degree of freedom characteristics of snake robots, their joint lever arms tend to be very long and often result in torque saturation, especially in the case of inter-tree motion. Traditional static planning methods based on curve segments connecting or wave functions are often limited by torque saturation and cannot meet the requirements of inter-tree motion of snake robots. Therefore, in this letter, a delay-aware swing and grasp framework combining rules and learning methods (DSG) is proposed for extending the inter-tree motion capability of snake robots. Specifically, first, to overcome the torque saturation problem, a joint torque direction determination rule is proposed to fully utilize the kinetic energy of the snake robot and enable the robot to move in the desired manner. Then, the DSG reduces the exploration space of the policy and guarantees the performance under delay, and based on which a maneuverable winding gait is designed to enable it to wrap around the target horizontal branch with maneuverability. Simulation and sufficient experiment results demonstrate that the proposed reinforcement learning (RL) controller has low torque requirement, high robustness under high delay, fast motion speed, and high generalizability.
基于时滞感知摆动与抓取框架的蛇形机器人可操纵缠绕步态
由于蛇形机器人的高冗余自由度特性,其关节杠杆臂往往很长,并且经常导致扭矩饱和,特别是在树间运动的情况下。传统的基于曲线段连接或波函数的静态规划方法往往受到扭矩饱和的限制,不能满足蛇形机器人树间运动的要求。因此,本文提出了一种结合规则和学习方法的延迟感知摆动和抓取框架(DSG),用于扩展蛇形机器人的树间运动能力。具体而言,首先,为了克服扭矩饱和问题,提出了关节扭矩方向确定规则,以充分利用蛇形机器人的动能,使机器人以期望的方式运动。然后,DSG减小了策略的探索空间,保证了延迟下的性能,并在此基础上设计了可机动的缠绕步态,使其能够绕目标水平分支具有可操作性。仿真和充分的实验结果表明,所提出的强化学习(RL)控制器具有转矩要求低、高时延下鲁棒性强、运动速度快、通用性强等特点。
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来源期刊
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters Computer Science-Computer Science Applications
CiteScore
9.60
自引率
15.40%
发文量
1428
期刊介绍: The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.
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