可重编程的测序,用于物理智能低效的机器人
Leon M Kamp1, Mohamed Zanaty1, Ahmad Zareei1
1J. A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138.
概括
这项研究介绍了使用多稳定性自主调整运动的物理智能机制. 这些设备利用机械刺激进行被动重编程,实现对象排序和避开障碍等任务,而不需要复杂的计算.
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
- 机械电子学是什么意思 机械电子学
背景情况:
- 将物理智能编程到机制中,为资源高效的机器提供了潜力.
- 未完善的机制可以用更少的组件来执行复杂的任务.
- 响应环境相互作用的自主运动调整是一个关键的挑战.
研究的目的:
- 引入物理智能低功率机制的设计方法.
- 通过被动重编程来证明自主运动调整.
- 展示使用最小计算资源运行的设备.
主要方法:
- 将多稳定性利用到自由度的序列.
- 利用来自环境相互作用的机械刺激进行被动重编程.
- 构建一个质量分类机制和一个四度自由度避障机器人.
主要成果:
- 展示了一种通过质量被动排序物体的机制.
- 开发了一种能够自主避开障碍的机器人.
- 展示了在没有传统计算架构的情况下运行的设备,并使用单一的线性执行器.
结论:
- 多稳定性为被动重编程机械运动提供了一种可行的方法.
- 物理智能机制可以在最少的资源下实现自主行为.
- 这种方法为设计智能机器人系统提供了一个新的范式.
相关概念视频
01:24Sequence Networks of Rotating Machines
485
A Y-connected synchronous generator, grounded through a neutral impedance, is designed to produce balanced internal phase voltages with only positive-sequence components. The generator's sequence networks include a source voltage that is exclusively in the positive-sequence network. The sequence components of line-to-ground voltages at the generator terminals illustrate this configuration.
Zero-sequence current induces a voltage drop across the generator's neutral impedance and other...
Zero-sequence current induces a voltage drop across the generator's neutral impedance and other...
485
01:19Electro-mechanical Systems
1.6K
Electromechanical systems are intricate configurations that effectively combine electrical and mechanical elements to achieve a desired outcome. Central to many of these systems is the DC motor, a device that converts electrical energy into mechanical motion, enabling various applications ranging from simple fans to complex robotic mechanisms.
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
A key component of the DC motor is the armature, a rotating circuit positioned within a magnetic field. As an electric current passes through the...
1.6K