基于体-环境交互作用的闭连杆变形移动机器人体刚度控制

Yuichiro Sueoka, Naoto Takebe, Yasuhiro Sugimoto, K. Osuka
{"title":"基于体-环境交互作用的闭连杆变形移动机器人体刚度控制","authors":"Yuichiro Sueoka, Naoto Takebe, Yasuhiro Sugimoto, K. Osuka","doi":"10.20965/jrm.2023.p0362","DOIUrl":null,"url":null,"abstract":"It is necessary for the robot to use interactions from the environment through the body in order to adaptively move through various environments. When the robot is faced with a narrow path or a space with many pillars, it should be able to use its interaction with the environment to thin its own shape, i.e., it should have a flexible body. In contrast, in the case where we want the robot to move forward powerfully on a slope or uneven terrain (small steps), it is preferable for the robot to rigidify its own body and exert a strong propulsive force in response to interactions from the environment. In this paper, we present an idea of a mobile robot that can adjust its body flexibility (stiffness) to realize such adaptive behavior, and furthermore, we demonstrate its validity through experiments. Specifically, we propose a closed-link deformable mobile robot whose stiffness can be adjusted by indirectly driving joints. We design a function that increases the stiffness of the body by controlling the joints to follow the target angle quickly, and a function that decreases the stiffness of the body by controlling the joints to follow the angle slowly. The effectiveness of a robot that can adjust its stiffness is demonstrated through experiments of traversing narrow paths and steps. We also discuss propulsion control that takes advantage of the deformable mobile robot and its applicability to uneven slopes due to the flexibility of the links.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"56 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Body Stiffness Control for Using Body-Environment Interaction with a Closed-Link Deformable Mobile Robot\",\"authors\":\"Yuichiro Sueoka, Naoto Takebe, Yasuhiro Sugimoto, K. Osuka\",\"doi\":\"10.20965/jrm.2023.p0362\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"It is necessary for the robot to use interactions from the environment through the body in order to adaptively move through various environments. When the robot is faced with a narrow path or a space with many pillars, it should be able to use its interaction with the environment to thin its own shape, i.e., it should have a flexible body. In contrast, in the case where we want the robot to move forward powerfully on a slope or uneven terrain (small steps), it is preferable for the robot to rigidify its own body and exert a strong propulsive force in response to interactions from the environment. In this paper, we present an idea of a mobile robot that can adjust its body flexibility (stiffness) to realize such adaptive behavior, and furthermore, we demonstrate its validity through experiments. Specifically, we propose a closed-link deformable mobile robot whose stiffness can be adjusted by indirectly driving joints. We design a function that increases the stiffness of the body by controlling the joints to follow the target angle quickly, and a function that decreases the stiffness of the body by controlling the joints to follow the angle slowly. The effectiveness of a robot that can adjust its stiffness is demonstrated through experiments of traversing narrow paths and steps. We also discuss propulsion control that takes advantage of the deformable mobile robot and its applicability to uneven slopes due to the flexibility of the links.\",\"PeriodicalId\":178614,\"journal\":{\"name\":\"J. Robotics Mechatronics\",\"volume\":\"56 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-04-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"J. Robotics Mechatronics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.20965/jrm.2023.p0362\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"J. Robotics Mechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.20965/jrm.2023.p0362","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1

摘要

为了在各种环境中自适应地移动,机器人必须通过身体来利用来自环境的相互作用。当机器人面对狭窄的路径或有许多柱子的空间时,它应该能够利用它与环境的相互作用来使自己的形状变薄,即它应该有一个灵活的身体。相反,当我们希望机器人在斜坡或不平坦的地形(小台阶)上有力地向前移动时,最好是让机器人自己的身体硬化,并在环境的相互作用下施加强大的推进力。在本文中,我们提出了一种移动机器人的想法,可以调整其身体的柔性(刚度)来实现这种自适应行为,并通过实验证明了其有效性。具体来说,我们提出了一种通过间接驱动关节来调节刚度的闭连杆可变形移动机器人。我们设计了一个通过控制关节快速跟随目标角度来增加机体刚度的功能,以及一个通过控制关节缓慢跟随目标角度来降低机体刚度的功能。通过狭窄路径和台阶的行走实验,验证了机器人刚度调节的有效性。我们还讨论了利用可变形移动机器人的推进控制,以及由于连杆的灵活性而适用于不平整的斜坡。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Body Stiffness Control for Using Body-Environment Interaction with a Closed-Link Deformable Mobile Robot
It is necessary for the robot to use interactions from the environment through the body in order to adaptively move through various environments. When the robot is faced with a narrow path or a space with many pillars, it should be able to use its interaction with the environment to thin its own shape, i.e., it should have a flexible body. In contrast, in the case where we want the robot to move forward powerfully on a slope or uneven terrain (small steps), it is preferable for the robot to rigidify its own body and exert a strong propulsive force in response to interactions from the environment. In this paper, we present an idea of a mobile robot that can adjust its body flexibility (stiffness) to realize such adaptive behavior, and furthermore, we demonstrate its validity through experiments. Specifically, we propose a closed-link deformable mobile robot whose stiffness can be adjusted by indirectly driving joints. We design a function that increases the stiffness of the body by controlling the joints to follow the target angle quickly, and a function that decreases the stiffness of the body by controlling the joints to follow the angle slowly. The effectiveness of a robot that can adjust its stiffness is demonstrated through experiments of traversing narrow paths and steps. We also discuss propulsion control that takes advantage of the deformable mobile robot and its applicability to uneven slopes due to the flexibility of the links.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信