一种整体的间接接触识别方法,用于软机器人自身感知
Shuoqi Wang1, Keng-Yu Lin2, Xiangru Xu1
1Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, Wisconsin, USA.
Soft robotics
|February 24, 2025
概括
研究人员开发了一种新方法,使软机器人能够感知自己的姿势,即使被外部力量变形. 这通过了解曲和接触相互作用来改善符合规范的机器人的控制.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 控制系统 控制系统
背景情况:
- 软机器人提供了优势,但由于其固有的合规性和反向驱动性,存在控制挑战.
- 精确感知机器人姿势 (位置和方向) 对于有效控制至关重要,特别是在扰乱的条件下.
- 现有的方法经常与软机器人特有的复杂变形和外部接触作斗争.
研究的目的:
- 开发一种全面的方法来感知软机器人的姿势在自由曲和外部接触干扰下.
- 通过准确估计软机器人系统的变形状态,实现对软机器人系统的精确控制.
- 为软执行器提供一种可通用的接触识别方法,并估计软执行器中的位置.
主要方法:
- 使用多个软应变传感器,与接触点不结合,以测量变形.
- 开发了一个基于数据的模型来描述自由曲变形模式 (前,侧,扭).
- 通过比较从未受到干扰状态的传感器偏差来估计位置来实现扰乱感知方法.
主要成果:
- 成功描述了传感器对各种变形类型的响应在2度自由度的软手指上.
- 证明了在单指和双指软机器人抓手上感知扰动姿势的能力.
- 验证了整体接触识别和姿势感知方法的有效性.
结论:
- 拟议的整体方法使软机器人能够进行强大的姿势感知,即使存在外部干扰和接触.
- 这种方法是可通用的,对于推进符合规范的机器人系统的控制能力至关重要.
- 改进的姿势感知直接解决了软机器人的实际应用的一个关键局限性.
相关概念视频
01:33Somatosensation
The somatosensory system relays sensory information from the skin, mucous membranes, limbs, and joints. Somatosensation is more familiarly known as the sense of touch. A typical somatosensory pathway includes three types of long neurons: primary, secondary, and tertiary. Primary neurons have cell bodies located near the spinal cord in groups of neurons called dorsal root ganglia. The sensory neurons of ganglia innervate designated areas of skin called dermatomes.
01:16Sensory Functions of the Skin
The skin is the largest organ of the human body and plays a crucial role in our sensory perception. It contains a vast network of sensory receptors that contribute to the skin's protective function by perceiving physical, biological, and environmental cues and generating relevant responses.
There are two main categories of receptors on the skin: capsulated and non-capsulated. The non-capsulated ones are mainly the pain receptors. The capsulated ones can be further categorized based on the...
There are two main categories of receptors on the skin: capsulated and non-capsulated. The non-capsulated ones are mainly the pain receptors. The capsulated ones can be further categorized based on the...
01:26Introduction to Special Senses
Sensory receptors play an integral part in comprehending our external and internal environments. They receive diverse stimuli, converting them into the nervous system's electrochemical signals. This conversion occurs as the stimulus alters the sensory neuron's cell membrane potential, instigating the generation of an action potential. This action potential is subsequently transmitted to the central nervous system (CNS), which integrates with other sensory data or higher cognitive functions.