一个摩擦驱动的战略,以敏捷的方向盘操纵由人形机器人
Zhaoyang Cai1, Xin Zhu1, Pierre Gergondet2
1School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China.
Cyborg and bionic systems (Washington, D.C.)
|March 4, 2024
概括
人形机器人现在可以更有效地驾驶车辆,使用一种新的单手方向盘策略. 这种方法提高了机动性和快速操纵,用于避免障碍等任务.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人类型机器人控制控制器
- 车辆操纵技术 车辆操纵技术
背景情况:
- 人形机器人在车辆中的机动性对于避免障碍等任务至关重要.
- 敏捷的方向盘操纵对于在狭窄的空间中提高驾驶速度至关重要.
- 现有的人类驾驶策略包括"手对手"",手对手"和"一只手".
研究的目的:
- 基于运动数据,对人类驾驶策略进行定量分析.
- 为人形机器人方向盘提出一种新,高效的操纵策略.
- 为精确的方向盘和力量管理开发一个控制框架.
主要方法:
- 对人类驾驶运动数据 (关节组合范围,肩部运动,操纵速度) 的定量分析.
- 为人形机器人开发一个以摩擦驱动的,单手操纵策略.
- 为方向盘相互作用构建操作力模型.
- 实施基于四级编程 (QP) 的控制框架.
主要成果:
- 分析揭示了人类驾驶策略的关键差异.
- 提出的单手策略有效地平衡了小动作范围和快速操纵.
- 操作力模型准确地预测方向盘阻力.
- 基于QP的控制器成功跟踪了终端效应器位置和目标关的输出.
- 在避免障碍的场景中,实现的最大旋转速度为3.14rad/s.
结论:
- 开发的摩擦驱动,单手策略显著提高了人形机器人的方向盘能力.
- 操作部队模型和QP控制框架允许安全和精确的方向盘.
- 这项研究推进了人形机器人在复杂的车辆驾驶任务中的自主性.
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