多模式机器人在可变形颗粒地形上运动的接触参数估计方法

IF 1.9 4区 计算机科学 Q3 ROBOTICS
Robotica Pub Date : 2024-01-24 DOI:10.1017/s026357472300187x
Shipeng Lyu, Wenyao Zhang, Chen Yao, Zhengtao Liu, Yang Su, Zheng Zhu, Zhenzhong Jia
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引用次数: 0

摘要

在本文中,我们考虑了多模式机器人在颗粒状地形上运动时的接触参数(滑移和下沉)估算问题。为了在同一框架内描述不同模式(如轮式、腿式)机器人的接触事件,我们提出了一种统一的多模式机器人接触参数描述方法。我们还提供了一种基于 CNN 和 DWT(离散小波变换)技术的多模态机器人参数估计方法,并在不同类型的颗粒状地形上验证了其有效性。除运动模式外,本文还考虑了坡度角和机器人手柄角度对接触参数的影响。通过对预测结果的比较和分析,我们的方法不仅能有效预测多模态机器人在颗粒介质上运动的接触参数(精度优于96%$),而且与其他针对单个运动模式(即四足机器人和火星车等单模态机器人)设计的(直接)接触测量方法相比,也能达到相同或更好的性能。我们提出的统一接触参数估计方法因其卓越的灵敏度,可用于研究多模态机器人与颗粒状地形之间的相互作用力学,以及地形分类任务,实验中对该方法进行了分析。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains
In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe the contact events in the same framework for robots operated at different modes (e.g., wheel, leg), we propose a unified description of contact parameters for multi-modal robots. We also provide a parameter estimation method for multi-modal robots based on CNN and DWT (discrete wavelet transformation) techniques and verify its effectiveness over different types of granular terrains. Besides motion modes, this paper also considers the influence of slope angles and the robot’s handing angles over contact parameters. Through comparison and analysis of the prediction results, our method can not only effectively predict the contact parameters of multi-modal robot locomotion on a granular medium (better than $96\%$ accuracy) but also achieves the same or better performance when compared to other (direct) contact measurement methods designed for individual motion modes, that is, single-modal robots such as quadruped robots and mars rovers. Our proposed unified contact parameter estimation method can be useful for studying the interaction mechanics between multi-modal robots and granular terrains as well as terrain classification tasks due to its superior sensitivity which is analyzed in the experiments.
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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