学习空气动力学,以控制飞行的人形机器人
Antonello Paolino1,2, Gabriele Nava3, Fabio Di Natale3
1Artificial and Mechanical Intelligence Laboratory, Istituto Italiano di Tecnologia, Via San Quirico 19d, Genova, 16163, Italy. antonello.paolino@iit.it.
Communications engineering
|June 18, 2025
概括
本研究介绍了iRonCub-Mk1,一种喷气式机器人机器人,并开发了用于控制其空中飞行的模型. 这项研究使得能够进行复杂运动的机器人变得更加多样化.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 航空航天工程 航空航天工程
- 控制系统 控制系统
背景情况:
- 多模式机动提高了机器人在不同环境中的多功能性.
- 人形机器人可以通过额外的执行来实现空中能力.
- 模拟和控制空气动力学力量是飞行类人形机器人的关键挑战.
研究的目的:
- 为了解决飞行类人机器人的技术和科学挑战.
- 介绍iRonCub-Mk1喷气式机器人机器人的机械设计和实验设置.
- 开发和验证模型来控制人形机器人中的空气动力学力.
主要方法:
- 机器人iRonCub-Mk1的机械设计和硬件修改.
- 风洞实验用于精确的空气动力学力和表面压力测量.
- 计算流体动力学 (CFD) 模拟和用于空气动力学数据集扩展的自动化框架.
- 训练深度神经网络和线性回归模型用于空气动力学力控制.
- 将模型集成到模拟器中,用于设计和验证气动意识控制器.
主要成果:
- 成功完成了iRonCub-Mk1.1的机械设计和硬件集成.
- 用风洞实验数据验证CFD模拟.
- 使用机器学习和古典技术开发空气动力学力预测模型.
- 通过模拟和物理机器人实验来证明空气动力学意识的控制器设计和验证.
结论:
- iRonCub-Mk1为研究喷气式人形飞行提供了一个平台.
- 对于飞行的人形机器人来说,全面的空气动力学建模和控制策略是可行的.
- 开发的模型和控制方法增强了先进的人形机器人运动的潜力.
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