使用超可编程接头编码机械智能
Rui Wu1,2,3, Luca Girardi1,2, Stefano Mintchev1,2
1Environmental Robotics Laboratory, Department of Environmental Systems Science, ETH Zurich, 8092 Zurich, Switzerland.
Science advances
|April 23, 2025
概括
研究人员开发了一种弹性滚动 (ERC),以创建机械智能机器人身体. 这项创新使机器人能够以被动机械特性执行复杂的任务,模仿动物体现的智能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 生物模拟学是一种生物模拟学.
背景情况:
- 动物身体通过被动机械反应表现出体现的智力,使复杂的运动能够在最小的神经或肌肉努力下进行.
- 在机器人中复制这一点是具有挑战性的,因为缺乏可调整的机械参数,例如刚性,这对于智能物理控制至关重要.
研究的目的:
- 为了引入一种新型组件,弹性滚动凸轮 (ERC),具有精确的反向可设计的旋转刚度.
- 展示机器人可编程机械性能在实现体内智能的潜力.
主要方法:
- 开发了一种弹性滚动凸轮 (ERC),能够准确地复制广泛的旋转刚度配置文件.
- 在各种尺度 (毫米到厘米) 中制造ERC原型.
- 将ERC集成到机器人系统中,包括双脚机器人和四旋翼无人机,以展示其功能.
主要成果:
- 该ERC成功复制了10万个模拟硬度配置文件,证明了其设计灵活性.
- 一个带有ERC被动膝盖的双脚机器人在不平坦的地形上实现了节能,稳定的行走,没有复杂的控制.
- 一架配备ERC接头的四旋翼无人机展示了冲击激活的双状态变形能力.
结论:
- 弹性滚动凸轮 (ERC) 提供了一个可编程的机械元件,用于创建具有体现智能的机器人.
- 正如ERC所证明的,机器人组件的可调节刚性是实现高级被动移动和变形行为的关键.
- 这种方法为以生物原理为灵感的更高效,更适应性强的机器人系统提供了途径.
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