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多脚物质运输:在杂的环境中移动的框架
Baxi Chong1,2, Juntao He3, Daniel Soto3
1Interdisciplinary Graduate Program in Quantitative Biosciences, Georgia Institute of Technology, North Avenue, Atlanta, GA 30332, USA.
Science (New York, N.Y.)
|May 4, 2023
概括
研究人员开发了一种受信息理论启发的物质运输框架. 这使得无需传感器的腿类机器人能够在复杂,不平坦的地形上可靠地移动.
科学领域:
- 机器人和机械工程
- 信息理论
- 生物力学
背景情况:
- 在复杂,无结构的环境中, 比如倒塌的建筑物或农田,
- 现有的方法通常依赖于工程景观 (道路,轨道) 或复杂的传感和控制.
- 在通讯理论中通过噪音道传输可靠的信号.
研究的目的:
- 在复杂,杂的环境中开发可靠物质运输的新框架.
- 为了证明非惯性运动可以在没有明确的传感或控制的情况下实现.
- 探索与通信理论的相似之处,以推进机器人运动.
主要方法:
- 建立一个基于信息传输原则的"物质运输"框架.
- 通过连续连接的腿部机器人利用空间冗余性.
- 应用编码理论和错误纠正 (基于传感器的反控制) 的概念.
主要成果:
- 拟议的框架可以在杂,崎的景观上进行可证明的非惯性移动.
- 实验证实使用连接式机器人的可靠运输,减少了传感和控制的需要.
- 这项研究强调了复杂的地力学系统中的敏捷移动潜力.
结论:
- 腿式机器人系统的空间冗余性是挑战性地形上可靠移动的关键.
- 通信理论的原理为设计强大的机器人运动系统提供了强大的方法.
- 未来的工作可以整合先进的步态和反控制,在不可预测的环境中提高灵活性.
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