A Geometric Control Framework for Enabling Behavior-Based Planning and Locomotion of Undulatory Robots

用于实现基于行为的波动机器人规划和运动的几何控制框架

• 批准号: 1562911
• 负责人: Patricio Vela
• 金额: $ 29.99万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-06-01 至 2022-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1562911&HistoricalAwards=false
• 关键词: Geometric; Control; Framework; Enabling; Behavior

Equipped with a slender and over-actuated body, snake-like robots have the ability to maneuver through complex environments. These platforms have been heralded for their locomotive advantages when navigating through rubble, tight spaces, and other areas hard to reach with standard robots. Yet, without a reliably systematic feedback control framework, snake-like robots cannot make the transition from teleoperation to full autonomy. This award will support advances in the dynamic modeling of snake locomotion from fundamental mechanical principles. These models are important for controlling robotic snakes, and other undulatory systems, and will remove a key obstacle to autonomy. The award will also support fundamental research into the role that scales play in snake locomotion, including the creation of robotic snake skin that will enable snake-like robots to realize the locomotive advantages of actual snake scales. The end goal of the project is to demonstrate autonomous snake operation through an unknown environment. Doing so will bring robotic snakes significantly closer to being deployable for search and rescue, inspection, and operation in hazardous environments. The research findings will also apply to similar biologically-inspired robots, such as swimming and flapping-wing flying robots. The popularity of robotics will be leveraged to create engaging educational and outreach activities in promotion of engineering mathematics.Snake-like robots are high-dimensional, articulated limbless robots that exploit control over a continuous morphological feature to achieve locomotion in a variety of ways. Science has exposed the physical principles underlying locomotion, while engineers have reproduced the fundamental mechanisms and can teleoperate these robots. However the creation of actionable feedback control policies is not fully resolved. What is missing is the physical and mathematical formulation that bridges the gap from achievement of undulatory gaits to the controlled execution of motion along a planned path. To address the gap, this project will design, and demonstrate the performance benefits of, biologically inspired scale fabrication for robotic snakes. The designed scales will reproduce the structural and anistropic friction properties of snake scales. Further, the research will use spatio-temporal averaging to derive reduced control equations for undulatory robotic systems where the body's internal degrees of freedom are modeled in the continuum. Achieving these two objectives will resolve a long-standing achievement gap between biologically inspired, undulatory robots and traditionally engineered robots.

蛇状的机器人配备了细长且散发过多的身体，具有通过复杂环境进行操作的能力。这些平台在瓦砾，狭窄的空间和其他标准机器人难以到达的区域中导航时，已经为它们的机车优势而被宣告。但是，如果没有可靠的系统反馈控制框架，类似蛇的机器人无法从远程操作到完全自治的过渡。该奖项将支持基本机械原理的蛇运动动态建模的进步。这些模型对于控制机器人蛇和其他波动系统非常重要，并且将消除自治的关键障碍。该奖项还将支持鳞片在蛇运动中扮演的角色的基本研究，包括创建机器人蛇皮，这将使类似蛇的机器人能够实现实际蛇鳞的机车优势。该项目的最终目标是通过未知环境来展示自主蛇操作。这样做将使机器人蛇在危险环境中更接近可部署，检查，检查和操作。研究发现还将适用于类似的生物学启发的机器人，例如游泳和拍打翼飞行机器人。机器人技术的知名度将被利用，以创建引人入胜的教育和外展活动，以促进工程数学。类似于机器人的机器人是高维，明显的刻板机器人，这些机器人可以利用对连续形态学特征的控制来以多种方式实现机车。科学揭示了运动的基本原理，而工程师则复制了基本机制，并可以对这些机器人进行路要操作。但是，创建可行的反馈控制策略尚未完全解决。缺少的是物理和数学表述，它弥合了从不断发出的步态到沿计划的路径受控的运动执行的差距。为了解决差距，该项目将设计并证明具有生物学启发的机器人蛇的规模制造的性能优势。设计的量表将重现蛇量表的结构和分布摩擦特性。此外，这项研究将使用时空平均来得出降低的控制机器人系统的控制方程，其中在连续体中对人体的内部自由度进行了建模。实现这两个目标将解决以生物学启发，不良的机器人和传统设计的机器人之间的长期成就差距。