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ID:24754202
大小:6.11 MB
页数:19页
时间:2018-11-14
《rhex系列机器人》由会员上传分享,免费在线阅读,更多相关内容在教育资源-天天文库。
1、RHex系列机器人制作小组:航天学院成员:Mecheligent公司,开发用于军事目的CapabilitiesofRHexItistheonlyrobotthatiscapableofperformingsuchawidevarietyofbehaviorsasasingle,autonomousrobot.Thisperformanceisduetothesignificantamountofinspirationfromthestudyofbiologicalsystems,leadingtoanumberofprinciplesunderlyingRHex'sdesign.
2、TheuseoflegsinsteadofwheelsortracksopensthewayforalargenumberofbehaviorsPassivecomplianceinthelegsovercomeslimitationsofunderactuationandhelpssimplifymechanicaldesign,yieldingrobustnessSprawledposture,inspiredfrominsects,resultsinpassivestabilizationoflateralmotionControlisopen-loopatthegaitl
3、evel,butclosedloopatthetasklevel.Stabilitycomesasaresultofpassivemechanics,nothigh-bandwidthactivecontrolRunningonreasonablyflat,naturalterrainatspeedsupto5bodylengthspersecond(justover2.25m/s)。ClimbingawiderangeofstairsClimbingslopesupto45degreesSuccessfullytraversebadlybrokenterrainwithlarg
4、erocksandobstaclesFlipitselfovertorecovernominalbodyorientationLeapingacrossditchesupto40cmwideTraverseobstaclesashighas20cm(abouttwiceRHex'slegclearance)Continuouslyrunfor45minutes,coveringupto3mileswithanefficientgaitWalkandrunupsidedownSupportremotecontrolfromupto150mdistanceBehaviorsthati
5、ncreasinglyreliedonfeedbackfromsensorssuchastheonboardgyro,cameraandstraingaugesonthelegs.PerformautonomousstabilizationofyawheadingwhilerunningusingfeedbackfromthegyroAutonomouslyfollowalineonthegroundwithoutanyoperatorcontrolBlobfollowLocomote ononlytwolegsusingactivependulumstabilizationBi
6、ologycanincreaseperformanceinmachinesInthelongrun,weaimtoarticulatebroadprincipleswithmathematicallypreciseformula-tionsofbiomechanicalobservedfactandthentranslatetheseintospecificdesignpracticesWepresentempiricaldataestablishingthatRHexexhibitsadynamical(“bouncing”)gait—itsmasscentermovesina
7、mannerwellapproximatedbytrajectoriesfromaSpringLoadedInvertedPendulum(SLIP)—characteristicofalargeanddiversegroupofrunninganimals,whenitscentralclock,bodymass,andlegstiffnessesareappropriatelytuned.Evennow,priortotheimpositionofmoreso-phistic
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