遥操作
机器人
运动学
计算机科学
模块化设计
步态
人工智能
障碍物
杠杆(统计)
机器人学
避障
机器人运动
理论(学习稳定性)
模拟
机器人控制
控制工程
工程类
移动机器人
生理学
物理
经典力学
机器学习
政治学
法学
生物
操作系统
作者
Dulanjana M. Perera,Dimuthu D. K. Arachchige,Sanjaya Mallikarachchi,Talal Ghafoor,Iyad A. Kanj,Yue Chen,Isuru S. Godage
标识
DOI:10.1109/robosoft55895.2023.10122121
摘要
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait diversity and real-time control, and onboard sensors to sense the surroundings are some of the common issues with soft-limbed robots. To overcome these limitations, we propose a spatially symmetric, topologically-stable, soft-limbed tetrahedral robot that can perform multiple locomotion gaits. We introduce a kinematic model, derive locomotion trajectories for different gaits, and design a teleoperation mechanism to enable real-time human-robot collaboration. We use the kinematic model to map teleoperation inputs and ensure smooth transitions between gaits. Additionally, we leverage the passive compliance and natural stability of the robot for toppling and obstacle navigation. Through experimental tests, we demonstrate the robot's ability to tackle various locomotion challenges, adapt to different situations, and navigate obstructed environments via teleoperation.
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