机器人
控制器(灌溉)
步态
机器人控制
机器人运动
控制理论(社会学)
工程类
状态空间
关节式机器人
蛇臂机器人
人工智能
计算机科学
模拟
控制工程
移动机器人
控制(管理)
数学
生物
统计
生理学
农学
作者
David Rollinson,Howie Choset
摘要
We present a method of achieving whole‐body compliant motions with a snake robot that allows the robot to automatically adapt to the shape of its environment. This feature is important to pipe navigation because it allows the robot to adapt to changes in diameter and junctions, even though the robot lacks mechanical compliance or tactile sensing. Rather than reasoning in the configuration space of robot joint angles, the compliant controller estimates the overall state of the robot in terms of the parameters of a low‐dimensional control function, i.e., a gait. The controller then commands new gait parameters relative to that estimated state. Performing closed‐loop control in this lower‐dimensional parameter space, rather than the robot's full configuration space, exploits the intuitive connection between the gait parameters and higher‐level robot behavior. Furthermore, the ability to automatically adjust gait parameters with this controller enables more sophisticated motions that would previously have been too complex to be controlled manually.
科研通智能强力驱动
Strongly Powered by AbleSci AI