Kiwon Sohn, Salman Hussain, Matthew Bradnan, Owen May
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引用次数: 0
摘要
本文介绍了由哈特福德大学辅助机器人团队(ART)自2019年以来设计和制造的运动学可调节四足机器人平台HARQ (Human assaitive and Robust Quadruped)的发展。HARQ的主要目标是协助人类工人在灾害等危险工作环境中完成各种任务。本文首先描述了以运动自适应和低成本制造为主要技术设计要求的HARQ的机械设计和制造过程。然后，介绍了四足机器人的运动学分析及其在底层体控制器中的实现。最后，HARQ在模拟环境中使用其虚拟模型进行测试和评估，并在室外环境中使用物理构建的平台进行各种全身运动，这些运动是为机器人导航而设计的。
This paper presents the development of kinematically adjustable quadrupedal robot platform, HARQ (Human Assistive and Robust Quadruped) which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2019. The main objective of HARQ is to assist various tasks of human workers in dangerous work environments such as disasters. In this paper, the mechanical design and building processes of HARQ which focused on kinematic adaptivity and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the quadrupedal robot are described. Lastly, HARQ is tested and evaluated both in a simulated environment using its virtual model and in an outdoor environment using the physically built platform with various whole body motions which are designed for the robot’s navigation.
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