{"title":"WalkingBot:具有自动结构传感和运动规划的模块化交互式腿式机器人","authors":"Meng Wang, Yao Su, Hangxin Liu, Ying-Qing Xu","doi":"10.1109/RO-MAN47096.2020.9223474","DOIUrl":null,"url":null,"abstract":"This paper presents WalkingBot, a modular robot system that allows non-expert users to build a multi-legged robot in various morphologies using a set of building blocks with sensors and actuators embedded. The kinematic model of the built robot is interpreted automatically and revealed in a customized GUI through an integrated hardware and software design, so that users can understand, control, and program the robot easily. A Model Predictive Control (MPC) scheme is introduced to generate a control policy for various motions (e.g. moving forward, turning left) corresponding to the sensed robot structure, affording rich robot motions right after assembling. Targeting different levels of programming skill, two programming methods, visual block programming and events programming, are also presented to enable users to create their own interactive legged robot.","PeriodicalId":383722,"journal":{"name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"WalkingBot: Modular Interactive Legged Robot with Automated Structure Sensing and Motion Planning\",\"authors\":\"Meng Wang, Yao Su, Hangxin Liu, Ying-Qing Xu\",\"doi\":\"10.1109/RO-MAN47096.2020.9223474\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents WalkingBot, a modular robot system that allows non-expert users to build a multi-legged robot in various morphologies using a set of building blocks with sensors and actuators embedded. The kinematic model of the built robot is interpreted automatically and revealed in a customized GUI through an integrated hardware and software design, so that users can understand, control, and program the robot easily. A Model Predictive Control (MPC) scheme is introduced to generate a control policy for various motions (e.g. moving forward, turning left) corresponding to the sensed robot structure, affording rich robot motions right after assembling. Targeting different levels of programming skill, two programming methods, visual block programming and events programming, are also presented to enable users to create their own interactive legged robot.\",\"PeriodicalId\":383722,\"journal\":{\"name\":\"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)\",\"volume\":\"31 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RO-MAN47096.2020.9223474\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RO-MAN47096.2020.9223474","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
WalkingBot: Modular Interactive Legged Robot with Automated Structure Sensing and Motion Planning
This paper presents WalkingBot, a modular robot system that allows non-expert users to build a multi-legged robot in various morphologies using a set of building blocks with sensors and actuators embedded. The kinematic model of the built robot is interpreted automatically and revealed in a customized GUI through an integrated hardware and software design, so that users can understand, control, and program the robot easily. A Model Predictive Control (MPC) scheme is introduced to generate a control policy for various motions (e.g. moving forward, turning left) corresponding to the sensed robot structure, affording rich robot motions right after assembling. Targeting different levels of programming skill, two programming methods, visual block programming and events programming, are also presented to enable users to create their own interactive legged robot.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
