关于社会机器人 HARU 的肌驱动软机器人部对振动的抑制
Seshagopalan Thorapalli Muralidharan1, Randy Gomez2, Georgios Andrikopoulos1
1Robot Design Lab, Mechatronics Unit, KTH Royal Institute of Technology, Stockholm, Sweden.
Frontiers in robotics and AI
|February 9, 2026
概括
这项研究引入了一种用于软机器人子的新型压制振动的方法,显著减少未调节轴的振荡. 联轴间接振动抑制 (CIVS) 技术提高了人机交互系统的稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 机械工程 机械工程
背景情况:
- 肌驱动的连续执行器 (TDCAs) 为人机交互提供了合规的运动.
- 在TDCAs中,低调和结构合规导致振动,特别是在负载下的未调轴上.
研究的目的:
- 开发和验证基于TDCA的软机器人子中抑制振动的实时控制策略.
- 为了减轻HARU社交机器人的部未经调节的轴的振荡.
主要方法:
- 采用机械跨轴合的合轴间接振动抑制 (CIVS) 机制的实施.
- 集成基于电流的肌预拉伸和PID控制的驱动轴.
- 与经典的滑动模式控制器进行性能基准测试的比较.
主要成果:
- 在负载下,CIVS显著减少了约53%的曲折角范围和>60%的曲折加速面积.
- 该方法有效地抑制了未调节的曲轴上的振动,优于滑动模式控制.
- 在没有额外的硬件的情况下,CIVS保持了光滑,富有表现力的运动.
结论:
- 通过CIVS进行间接反驱动的肌调制是一种有效的,低复杂度的解决方案,用于控制软机器人的振动.
- 这种方法提高了安全性,合规性和运动表达性,这对于交互式机器人应用至关重要.
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