机械智能简化了对陆地无肢机动的控制
Tianyu Wang1,2,3, Christopher Pierce2,4, Velin Kojouharov3
1Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA 30332, USA.
Science robotics
|December 20, 2023
概括
机械智能,而不仅仅是主动控制,是无肢运动的关键. 这项研究表明,简单的生物和机器人可以通过利用被动机械特性来有效地移动,从而在复杂的地形上导航.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 动物的运动 动物的运动
背景情况:
- 虫子和蛇等生物体的无肢运动依赖于波动的身体波.
- 当前的模型经常忽视被动机械过程,称为"机械智能",阻碍性能复制.
- 了解机械智能对于解释生物运动和设计先进机器人至关重要.
研究的目的:
- 研究机械智能如何在复杂,异构的环境中帮助无肢运动.
- 为了比较模型生物 (Caenorhabditis elegans) 与机器物理模型的运动.
- 揭示由生物系统启发的无肢机器人的设计和控制原则.
主要方法:
- 在异质地形模型 (刚性柱子的格子) 上对机车运动的比较研究.
- 用线虫虫Caenorhabditis elegans作为一个生物模型.
- 采用了一种具有双边执行器的机器物理装置,模仿无肢生物.
主要成果:
- 机器人的开放循环控制定量匹配了线虫的性能.
- 机械智能通过减少对主动传感和反的依赖,简化了障碍物导航和利用.
- 在C.I.C.中, 优雅的波浪逆转行为通过机械智能增强了运动.
结论:
- 神经简单的生物利用机械智能在复杂的环境中通过调节的执行来进行运动.
- 机械智能的原理为设计和控制无肢机器人提供了一个范式.
- 这些发现适用于简单和复杂的生物和用于勘探和救援的机器人系统.
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