论文标题
障碍物机器人的障碍物导航的方向依从性
Directional Compliance in Obstacle-Aided Navigation for Snake Robots
论文作者
论文摘要
蛇机器人有可能通过紧密填充和复杂的环境进行操纵。使他们能够这样做的一个挑战是确定如何协调其许多自由度以创造有目的运动的复杂性。在这项工作中考虑的地形类型中尤其如此：充满未模拟的特征的环境，即使是最好的地图也无法捕获，激励我们开发闭环控件以对这些功能做出反应。为此，这项工作使用了本体感知感应，主要是由蛇机器人的关节测量的力信息，以对未建模的地形做出反应。我们引入了一种以生物学启发的策略，称为定向合规性，该策略调节了机器人的有效刚度，以使其符合某些方向的地形并在其他方向上抗拒。我们提出了一个动态系统，该系统在机车模式之间切换，以处理机器人被楔入或卡住的情况。这种方法使蛇机器人能够可靠地穿越平面钉阵列和户外的三维岩石。
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful motion. This is especially true in the types of terrains considered in this work: environments full of unmodeled features that even the best of maps would not capture, motivating us to develop closed-loop controls to react to those features. To accomplish this, this work uses proprioceptive sensing, mainly the force information measured by the snake robot's joints, to react to unmodeled terrain. We introduce a biologically-inspired strategy called directional compliance which modulates the effective stiffness of the robot so that it conforms to the terrain in some directions and resists in others. We present a dynamical system that switches between modes of locomotion to handle situations in which the robot gets wedged or stuck. This approach enables the snake robot to reliably traverse a planar peg array and an outdoor three-dimensional pile of rocks.
