模块化蛇形机器人在扫雷任务中的初步研究

Kamilo Melo, L. Paez, Monica Hernandez, Alexandra Velasco, F. Calderon, C. Parra
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引用次数: 17

摘要

本文介绍了适用于扫雷任务应用的模块化蛇形机器人的最新发展。在排雷过程中加入机器人平台将有助于识别和感知危险区域等任务,最大限度地减少人类风险。作为一种移动机器人,模块化蛇形机器人可以在类似于地雷场景的不平坦地形中移动。这就是为什么,主要的研究工作都是在运动上进行的。在这一领域的几个贡献被报道包括步态像:闭链滚动,横向滚动和步态,使用一个螺旋形状的圆柱体的外部。研究的另一种步态是模块化机器人链挂在末端模块上的摆动运动。这里报告了机器人架构的贡献,包括分布式模型预测控制和多相机和传感器融合。我们的实验室也对这些机器人的感知问题进行了研究,并在这里展示了两项进展。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Preliminary studies on modular snake robots applied on de-mining tasks
This paper addresses recent developments on Modular Snake Robots suited for applications on de-mining tasks. Inclusion of robotic platforms on the de-mining process will help tasks like the recognizance and perception of dangerous areas, minimizing human risk. As a mobile robot, the modular snake robot can move in a uneven terrain similar to a mined scenario. That is why, the main research efforts have been done on locomotion. Several contributions on this area are reported including gaits like: closed chain rolling, lateral rolling and a gait that use a helix shape both on the outside of cylinders. Another gait studied regards the swing movement of a modular robot chain hanging from one of its end modules. Contributions on robot architecture are reported here, including a distributed model predictive control and a multi-camera and sensor fusion. The perception problem of these robots also are researched by our lab and a pair of developments are shown here.
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