资源描述：
《Autonomous Wall Cutting with an Atlas Humanoid Robot 》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、AutonomousWallCuttingwithanAtlasHumanoidRobotZheng-HaoChong,RobertT.W.Hung,Kit-HangLee,WeijiaWang,TonyW.L.Ng,WyattNewman,SeniorMemberIEEEAbstract—AutonomouswallcuttingisdescribedusinganAtlashumanoidrobot.Anintegratedwall-cuttingskillispresented,whichonlyrequiresanoperatortoissuesupe
2、rvisory-levelcommandstoprescribeadesiredcuttingpath,leadingtoautonomouscutting.I.INTRODUCTIONTeamHKU,basedatUniversityofHongKong,iscompetingintheDARPARoboticsChallenge(DRC)withaBostonDynamics,Inc.“Atlas”humanoidrobot[1].DARPAchallengetasksaredetailedin[2].TheAtlasrobot,showninFig.1,
3、wasunveiledbyBostonDynamics,Inc.inJuly,2013.Only7Atlasrobotsexist:6ownedbyDARPA,plustheAtlasrobotprivatelyacquiredbytheUniversityofHongKong.AllAtlasrobotsweredeliveredequippedwithaCarnegieRoboticssensorhead.Forhands,HKUchosetheSandiahands[3].Atlas's28joints(notcountingtheSandiahands
4、northerotatingLIDARonthesensorhead)areelectrohydraulic.TeamHKUdevelopedallofitsrobotcontrolsoftwareinROS(RobotOperatingSystem)[4].Oneofthechallengesofthiscompetitionistoidentifyanddesignappropriateuserinterfacesforcontrollingarobotremotelyunderrestrictionsoflimitedcommunications.Fig
5、ure1:AtlasholdingacuttingtoolThefocusofthispaperisononeoftheDRCtasks:developingawall-cuttingskillthatrequiresonlysimpleandII.OPTIMIZATIONOFWALLAPPROACHintuitivesupervisory-leveloperatorinput.Wall-cuttingisasignificantchallenge,particularlywithrespecttogeneratingInthissection,weaddre
6、ssthequestion:howshouldAtlasfeasibleinverse-kinematicpathsolutions.TeamHKU’spositionhisbodyrelativetoawalltooptimizewall-cuttingapproachisreviewedhere,buildingonandextendingearlierperformance?resultsininversekinematics[5],compliantmotioncontrolTohelpanalyzethisproblem,wedefine“cutta
7、bility”ofa[6],designofoperatorinterfaces[7],sensor-basedtask“wallpoint.”Tobeprecise,wemustdefinetworeferencespecification[8],andstate-machinesystemintegration[9].frames:thetoolframeandalocalworldframe.TargetpointsToachieveskillfulcutting,weaddressedthischallengeintobeevaluatedforcut
8、tabilityareexpresse
