一种基于机器人表面的函数近似的形状控制和对象操纵技术
Yuchen Zhao1,2, Yuxin Chen1,2
1School of Automation, Southeast University, Nanjing, Jiangsu, China.
Frontiers in robotics and AI
|November 21, 2025
概括
我们开发了一种用于机器人表面的新型分布式控制方法,确保不论执行器数量如何,都能持续更新时间. 这种方法提高了效率,并使物体运输等任务的精确形状控制成为可能.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 分布式系统 分布式系统
- 改变形状的机器人
背景情况:
- 具有多个执行器的机器人表面提供了增强的功能,但面临控制挑战,特别是更多执行器的全系统刷新时间的增加.
- 对于像对象操纵这样的先进机器人应用来说,对大规模执行器系统的有效控制至关重要.
研究的目的:
- 为机器人表面提出并验证一种新的分布式控制方法,不论执行器的数量如何,保持恒定的更新时间.
- 为了证明拟议的控制方法在形状近似和物体运输任务中的效率和准确性.
主要方法:
- 开发了一种分布式控制方法,涉及目标形状近似,广播系数和分散的执行器输入计算.
- 实验验证包括构建机器人表面以测量与执行器计数的刷新时间,并执行形状近似实验.
- 介绍了机器人-物体相互作用力的建模策略,导致对象运输的反控制器.
主要成果:
- 拟议的控制方法证明了系统大小独立的缩放,无论执行器的数量如何,更新时间都保持不变.
- 实验表明,理论预测和实际性能在形状近似中之间有很好的一致性.
- 开发的用于物体运输的反控制器通过实验测试证明了其有效性,证实了相互作用力模型.
结论:
- 新的分布式控制方法为机器人表面中管理大量执行器提供了可扩展和高效的解决方案.
- 该方法减少了控制信息的开销,从而使物体运输和分类等任务的协调更加有效.
- 经过验证的模型和控制器为先进的机器人操纵和交互能力铺平了道路.
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