多机器人连接实现集体穿越障碍物区域

Haodi Hu, Xingjue Liao, Wuhao Du, Feifei Qian
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摘要

地形高度变化大的环境给有腿机器人的运动带来了巨大挑战。从火蚁的集体装配行为中汲取灵感,我们研究了能使两个 "可连接 "机器人在高度变化大于机器人腿长的凹凸地形上集体导航的策略。每个机器人的设计都非常简单,只有一个立方体的身体和一个旋转电机,电机驱动四个成对移动的垂直钉腿。两个或多个机器人可以物理连接,以增强集体移动能力。我们用两个机器人组进行了运动实验,穿越了布满均匀分布的半球形 "巨石 "的障碍场地。实验测量的机器人速度表明,机器人之间的连接长度对集体运动能力有显著影响:机器人单位体长(UBL)在[0.86, 0.9]的连接长度C能够在障碍物区域内产生可持续运动,而UBL在[0.63, 0.84]和[0.92, 1.1]的连接长度C则导致低穿越能力。基于能量景观的模型揭示了连接长度如何通过系统的势能景观调节集体移动性的基本机制,并为双机器人系统调整连接长度以穿越不同空间频率的障碍场提供了适应策略。我们的研究结果表明,通过改变机器人之间的连接配置,双机器人系统可以利用机械智能更好地利用障碍物相互作用力,从而改善运动性能。展望未来,我们认为机器人与环境耦合的一般原理可以为一大群小型机器人的设计和控制策略提供参考,从而实现类似蚂蚁的集体环境协商。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Multi-robot connection towards collective obstacle field traversal
Environments with large terrain height variations present great challenges for legged robot locomotion. Drawing inspiration from fire ants' collective assembly behavior, we study strategies that can enable two ``connectable'' robots to collectively navigate over bumpy terrains with height variations larger than robot leg length. Each robot was designed to be extremely simple, with a cubical body and one rotary motor actuating four vertical peg legs that move in pairs. Two or more robots could physically connect to one another to enhance collective mobility. We performed locomotion experiments with a two-robot group, across an obstacle field filled with uniformly-distributed semi-spherical ``boulders''. Experimentally-measured robot speed suggested that the connection length between the robots has a significant effect on collective mobility: connection length C in [0.86, 0.9] robot unit body length (UBL) were able to produce sustainable movements across the obstacle field, whereas connection length C in [0.63, 0.84] and [0.92, 1.1] UBL resulted in low traversability. An energy landscape based model revealed the underlying mechanism of how connection length modulated collective mobility through the system's potential energy landscape, and informed adaptation strategies for the two-robot system to adapt their connection length for traversing obstacle fields with varying spatial frequencies. Our results demonstrated that by varying the connection configuration between the robots, the two-robot system could leverage mechanical intelligence to better utilize obstacle interaction forces and produce improved locomotion. Going forward, we envision that generalized principles of robot-environment coupling can inform design and control strategies for a large group of small robots to achieve ant-like collective environment negotiation.
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