Our earlier research built a virtual shake robot in simulation to study the dynamics of precariously balanced rocks (PBR), which are negative indicators of earthquakes in nature. The simulation studies need validation through physical experiments. For this purpose, we developed Shakebot, a low-cost (under $2,000), open-source shake table to validate simulations of PBR dynamics and facilitate other ground motion experiments. The Shakebot is a custom one-dimensional prismatic robotic system with perception and motion software developed using the Robot Operating System (ROS). We adapted affordable and high-accuracy components from 3D printers, particularly a closed-loop stepper motor for actuation and a toothed belt for transmission. The stepper motor enables the bed to reach a maximum horizontal acceleration of 11.8 m/s^2 (1.2 g), and velocity of 0.5 m/s, when loaded with a 2 kg scale-model PBR. The perception system of the Shakebot consists of an accelerometer and a high frame-rate camera. By fusing camera-based displacements with acceleration measurements, the Shakebot is able to carry out accurate bed velocity estimation. The ROS-based perception and motion software simplifies the transition of code from our previous virtual shake robot to the physical Shakebot. The reuse of the control programs ensures that the implemented ground motions are consistent for both the simulation and physical experiments, which is critical to validate our simulation experiments.
translated by 谷歌翻译
释放机将现成的组件与3DPrinting结合在一起,是一种对称的反应轮独轮车,可以从任何初始位置从任何初始位置跳到其车轮上。船轮凭借非独立和散发不足的动力学以及两个耦合的不稳定自由度,为非线性和数据驱动的控制研究提供了一个具有挑战性的平台。本文介绍了车轮的机械和电气设计,其估计和控制算法以及实验在平衡时表明自我的和干扰的拒绝。
translated by 谷歌翻译
In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparency is affected by structural properties as well as sensing and control architectures. In this paper, we propose the collision reflex metric as a way to formally quantify transparency. It is defined as the total impulse transferred in collision, which determines the collision mitigation capabilities of a closed-loop robotic system taking into account structure, sensing, and control. We analyze the effect of motor scaling, stiffness, and configuration on the collision reflex of a system using an analytical model. Physical experiments using the move-until-touch behavior are conducted to compare the collision reflex of direct-drive and quasi-direct-drive actuators and robotic hands (Schunk WSG-50 and Dexterous DDHand.) For transparent systems, we see a counter-intuitive trend: the impulse may be lower at higher pre-impact velocities.
translated by 谷歌翻译
我们提出了通过现实的模拟和现实世界实验来支持可复制研究的多运动无人机控制(UAV)和估计系统。我们提出了一个独特的多帧本地化范式,用于同时使用多个传感器同时估算各种参考框架中的无人机状态。该系统可以在GNSS和GNSS贬低的环境中进行复杂的任务,包括室外室内过渡和执行冗余估计器,以备份不可靠的本地化源。提出了两种反馈控制设计:一个用于精确和激进的操作,另一个用于稳定和平稳的飞行,并进行嘈杂的状态估计。拟议的控制和估计管道是在3D中使用Euler/Tait-Bryan角度表示的,而无需使用Euler/Tait-Bryan角度表示。取而代之的是,我们依靠旋转矩阵和一个新颖的基于标题的惯例来代表标准多电流直升机3D中的一个自由旋转自由度。我们提供了积极维护且有据可查的开源实现,包括对无人机,传感器和本地化系统的现实模拟。拟议的系统是多年应用系统,空中群,空中操纵,运动计划和遥感的多年研究产物。我们所有的结果都得到了现实世界中的部署的支持,该系统部署将系统塑造成此处介绍的表单。此外,该系统是在我们团队从布拉格的CTU参与期间使用的,该系统在享有声望的MBZIRC 2017和2020 Robotics竞赛中,还参加了DARPA SubT挑战赛。每次,我们的团队都能在世界各地最好的竞争对手中获得最高位置。在每种情况下,挑战都促使团队改善系统,并在紧迫的期限内获得大量高质量的体验。
translated by 谷歌翻译
拍打翅膀是一种生物启发的方法,可在空中机器人中产生升力和推动,从而导致安静有效的运动。该技术的优点是安全性和可操作性,以及与环境,人类和动物的物理互动。但是,为了实现大量应用,这些机器人必须栖息和土地。尽管最近在栖息场上取得了进展,但直到今天,拍打翼车辆或鸟类动物仍无法停止在分支上的飞行。在本文中,我们提出了一种新颖的方法,该方法定义了一个可以可靠和自主将鸟鸟类降落在分支上的过程。该方法描述了拍打飞行控制器的联合操作,近距离校正系统和被动爪附件。飞行由三重俯仰高空控制器和集成的车身电子设备处理,允许以3 m/s的速度栖息。近距离校正系统,具有快速的光学分支传感可补偿着陆时的位置错位。这是通过被动双向爪设计可以补充的,可以锁定和固定2 nm的扭矩,在25毫秒内掌握,并且由于集成的肌腱致动而可以重新打开。栖息的方法补充了四步实验开发过程,该过程为成功的设计优化。我们用700 g的鸟杆验证了这种方法,并演示了在分支上拍打翼机器人的第一次自主栖息飞行,结果用第二个机器人复制。这项工作为在远程任务,观察,操纵和室外飞行中应用翼机器人的应用铺平了道路。
translated by 谷歌翻译
Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust enough for farming. Terrace farming, in particular, provides a varying set of challenges, including robust stair climbing methods and stable navigation in unstructured terrains. We propose the design of a novel autonomous terrace farming robot, Aarohi, that can effectively climb steep terraces of considerable heights and execute several farming operations. The design optimisation strategy for the overall mechanical structure is elucidated. Further, the embedded and software architecture along with fail-safe strategies are presented for a working prototype. Algorithms for autonomous traversal over the terrace steps using the scissor lift mechanism and performing various farming operations have also been discussed. The adaptability of the design to specific operational requirements and modular farm tools allow Aarohi to be customised for a wide variety of use cases.
translated by 谷歌翻译
Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time without the need to frequently replace batteries. This paper addresses the Active Visual Perching (AVP) control problem to autonomously perch on inclined surfaces up to $90^\circ$. Our approach generates dynamically feasible trajectories to navigate and perch on a desired target location, while taking into account actuator and Field of View (FoV) constraints. By replanning in mid-flight, we take advantage of more accurate target localization increasing the perching maneuver's robustness to target localization or control errors. We leverage the Karush-Kuhn-Tucker (KKT) conditions to identify the compatibility between planning objectives and the visual sensing constraint during the planned maneuver. Furthermore, we experimentally identify the corresponding boundary conditions that maximizes the spatio-temporal target visibility during the perching maneuver. The proposed approach works on-board in real-time with significant computational constraints relying exclusively on cameras and an Inertial Measurement Unit (IMU). Experimental results validate the proposed approach and shows the higher success rate as well as increased target interception precision and accuracy with respect to a one-shot planning approach, while still retaining aggressive capabilities with flight envelopes that include large excursions from the hover position on inclined surfaces up to 90$^\circ$, angular speeds up to 750~deg/s, and accelerations up to 10~m/s$^2$.
translated by 谷歌翻译
Experiments using large numbers of miniature swarm robots are desirable to teach, study, and test multi-robot and swarm intelligence algorithms and their applications. To realize the full potential of a swarm robot, it should be capable of not only motion but also sensing, computing, communication, and power management modules with multiple options. Current swarm robot platforms developed for commercial and academic research purposes lack several of these critical attributes by focusing only on a few of these aspects. Therefore, in this paper, we propose the HeRoSwarm, a fully-capable swarm robot platform with open-source hardware and software support. The proposed robot hardware is a low-cost design with commercial off-the-shelf components that uniquely integrates multiple sensing, communication, and computing modalities with various power management capabilities into a tiny footprint. Moreover, our swarm robot with odometry capability with Robot Operating Systems (ROS) support is unique in its kind. This simple yet powerful swarm robot design has been extensively verified with different prototyping variants and multi-robot experimental demonstrations.
translated by 谷歌翻译
安装在微空中车辆(MAV)上的地面穿透雷达是有助于协助人道主义陆地间隙的工具。然而,合成孔径雷达图像的质量取决于雷达天线的准确和精确运动估计以及与MAV产生信息性的观点。本文介绍了一个完整的自动空气缩进的合成孔径雷达(GPSAR)系统。该系统由空间校准和时间上同步的工业级传感器套件组成,使得在地面上方,雷达成像和光学成像。自定义任务规划框架允许在地上控制地上的Stripmap和圆形(GPSAR)轨迹的生成和自动执行,以及空中成像调查飞行。基于因子图基于Dual接收机实时运动(RTK)全局导航卫星系统(GNSS)和惯性测量单元(IMU)的测量值,以获得精确,高速平台位置和方向。地面真理实验表明,传感器时机为0.8美元,正如0.1美元的那样,定位率为1 kHz。与具有不确定标题初始化的单个位置因子相比,双位置因子配方可提高高达40%,批量定位精度高达59%。我们的现场试验验证了本地化准确性和精度,使得能够相干雷达测量和检测在沙子中埋入的雷达目标。这验证了作为鸟瞰着地图检测系统的潜力。
translated by 谷歌翻译
从教育和研究的角度来看,关于硬件的实验是机器人技术和控制的关键方面。在过去的十年中,已经介绍了许多用于车轮机器人的开源硬件和软件框架,主要采用独轮车和类似汽车的机器人的形式,目的是使更广泛的受众访问机器人并支持控制系统开发。独轮车通常很小且便宜,因此有助于在较大的机队中进行实验,但它们不适合高速运动。类似汽车的机器人更敏捷,但通常更大且更昂贵,因此需要更多的空间和金钱资源。为了弥合这一差距,我们介绍了Chronos,这是一种具有定制开源电子设备的新型汽车的1/28比例机器人,以及CRS是用于控制和机器人技术的开源软件框架。 CRS软件框架包括实施各种最新的算法,以进行控制,估计和多机构协调。通过这项工作,我们旨在更轻松地使用硬件,并减少启动新的教育和研究项目所需的工程时间。
translated by 谷歌翻译
Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires minimal craftsmanship and promotes the natural evolution of a control policy. However, so far, reinforcement learning research for legged robots is mainly limited to simulation, and only few and comparably simple examples have been deployed on real systems. The primary reason is that training with real robots, particularly with dynamically balancing systems, is complicated and expensive. In the present work, we report a new method for training a neural network policy in simulation and transferring it to a state-of-the-art legged system, thereby we leverage fast, automated, and cost-effective data generation schemes. The approach is applied to the ANYmal robot, a sophisticated medium-dog-sized quadrupedal system. Using policies trained in simulation, the quadrupedal machine achieves locomotion skills that go beyond what had been achieved with prior methods: ANYmal is capable of precisely and energy-efficiently following high-level body velocity commands, running faster than ever before, and recovering from falling even in complex configurations.
translated by 谷歌翻译
We designed and constructed an A-sized base autonomous underwater vehicle (AUV), augmented with a stack of modular and extendable hardware and software, including autonomy, navigation, control and high fidelity simulation capabilities (A-size stands for the standard sonobuoy form factor, with a maximum diameter of 124 mm). Subsequently, we extended this base vehicle with a novel tuna-inspired morphing fin payload module (referred to as the Morpheus AUV), to achieve good directional stability and exceptional maneuverability; properties that are highly desirable for rigid hull AUVs, but are presently difficult to achieve because they impose contradictory requirements. The morphing fin payload allows the base AUV to dynamically change its stability-maneuverability qualities by using morphing fins, which can be deployed, deflected and retracted, as needed. The base vehicle and Morpheus AUV were both extensively field tested in-water in the Charles river, Massachusetts, USA; by conducting hundreds of hours of operations over a period of two years. The maneuvering capability of the Morpheus AUV was evaluated with and without the use of morphing fins to quantify the performance improvement. The Morpheus AUV was able to showcase an exceptional turning rate of around 25-35 deg/s. A maximum turn rate improvement of around 35% - 50% was gained through the use of morphing fins.
translated by 谷歌翻译
基于对高分辨率水下视觉调查的需求,本研究表明,现有的烟囱II自主水下车辆(AUV)适应完全悬停的AUV完全能够进行自主,近​​距离成像调查任务。本文重点介绍了AUV机动能力的增强(实现了改进的机动控制),实现了最新推进器分配算法的状态(允许最佳推进器分配和推进器冗余),以及在控制器之后的升级路径的开发以便于精确开发高分辨率成像任务所需的精致运动。为了便于车辆适应,开发了一种动态模型。提出了使用良好接受的公式,通过计算流体动力学和实际海上实验获得最初获得的动态模型系数的校准过程。还提出了耐压成像系统的房屋开发。该系统包括立体声相机和高功率闪电闪光灯,并作为专用AUV有效载荷装配。最后,在实际海床视觉调查任务中证明了平台的性能。
translated by 谷歌翻译
近年来,空中机器人背景下的高速导航和环境互动已成为几个学术和工业研究研究的兴趣领域。特别是,由于其若干环境中的潜在可用性,因此搜索和拦截(SAI)应用程序造成引人注目的研究区域。尽管如此,SAI任务涉及有关感官权重,板载计算资源,致动设计和感知和控制算法的具有挑战性的发展。在这项工作中,已经提出了一种用于高速对象抓握的全自动空中机器人。作为一个额外的子任务,我们的系统能够自主地刺穿位于靠近表面的杆中的气球。我们的第一款贡献是在致动和感觉水平的致动和感觉水平的空中机器人的设计,包括具有额外传感器的新型夹具设计,使机器人能够高速抓住物体。第二种贡献是一种完整的软件框架,包括感知,状态估计,运动计划,运动控制和任务控制,以便快速且强大地执行自主掌握任务。我们的方法已在一个具有挑战性的国际竞争中验证,并显示出突出的结果,能够在室外环境中以6米/分来自动搜索,遵循和掌握移动物体
translated by 谷歌翻译
我们描述了一个软件框架和用于串联的硬件平台,用于设计和分析模拟和现实中机器人自主算法。该软件是开源的,独立的容器和操作系统(OS)的软件,具有三个主要组件:COS ++车辆仿真框架(Chrono)的ROS 2接口(Chrono),该框架提供了高保真的轮毂/跟踪的车辆和传感器仿真;基于ROS 2的基本基于算法设计和测试的自治堆栈;以及一个开发生态系统,可在感知,状态估计,路径计划和控制中进行可视化和硬件实验。随附的硬件平台是1/6刻度的车辆,并具有可重新配置的用于计算,传感和跟踪的可重新配置的安装。其目的是允许对算法和传感器配置进行物理测试和改进。由于该车辆平台在模拟环境中具有数字双胞胎,因此可以测试和比较模拟和现实中相同的算法和自主堆栈。该平台的构建是为了表征和管理模拟到现实差距。在此,我们描述了如何建立,部署和用于改善移动应用程序的自主权。
translated by 谷歌翻译
自适应控制可以解决控制系统中的模型不确定性。但是,它是专为跟踪控制而设计的。近期机器人控制的最新进步表明,力控制可以有效地实现敏捷和强大的运动。在本文中,我们提出了一种用于腿机器人的新型自适应力控制框架。我们以我们提出的方法介绍了一种新的架构,将自适应控制纳入二次编程(QP)力控制。由于我们的方法是基于力控制,它还保留了基线框架的优势,例如对不均匀地形,可控摩擦约束或软撞击的鲁棒性。我们的方法在模拟和硬件实验中成功验证。虽然基线QP控制在具有小负载的身体跟踪误差中显示出显着的降级,但我们所提出的基于自适应力的控制可以使12千克Unitree A1机器人能够在粗糙的地形上行走,同时承载最多6次kg(50%的机器人重量)。当站在四条腿时,我们所提出的自适应控制甚至可以允许机器人在机器人高度中携带多达11kg的负载(机器人重量的92%),并且在机器人高度中具有小于5cm的跟踪误差。
translated by 谷歌翻译
近二十年来,软机器人技术一直是机器人社区中的一个热门话题。但是,对于软机器人进行建模和分析的可用工具仍然有限。本文介绍了一个用户友好的MATLAB工具箱Soft Robot Simulator(Sorosim),该工具集合了Cosserat杆的几何变量应变(GVS)模型,以促进对软,刚性或混合机器人系统的静态和动力分析。我们简要概述了工具箱的设计和结构,并通过将其结果与文献中发布的结果进行比较。为了突出该工具箱有效建模,模拟,优化和控制各种机器人系统的潜力,我们演示了四个示例应用程序。所示的应用探索了单,分支,开放式和闭合链机器人系统的不同执行器和外部加载条件。我们认为,软机器人研究社区将从Sorosim工具箱中大大受益,用于多种应用。
translated by 谷歌翻译
This paper introduces a structure-deformable land-air robot which possesses both excellent ground driving and flying ability, with smooth switching mechanism between two modes. The elaborate coupled dynamics model of the proposed robot is established, including rotors, chassis, especially the deformable structures. Furthermore, taking fusion locomotion and complex near-ground situations into consideration, a model based controller is designed for landing and mode switching under various harsh conditions, in which we realise the cooperation between fused two motion modes. The entire system is implemented in ADAMS/Simulink simulation and in practical. We conduct experiments under various complex scenarios. The results show our robot can accomplish land-air switching swiftly and smoothly, and the designed controller can effectively improve the landing flexibility and reliability.
translated by 谷歌翻译
中枢神经系统(CNS)利用预期(APA)和补偿性(CPA)的姿势调整以保持平衡。姿势调整包括质量中心的稳定性(COM)(COM)和身体的压力分布相互影响,如果存在他们俩缺乏表现。任何可预测的或突然的扰动都可能为COM与平衡和身体的均匀压力分布的分歧铺平道路。由于其不良的APA和CPA,并引起了它们的跌倒。神经系统患者跌倒风险的最小化方法正在利用基于扰动的康复,因为它有效地恢复了平衡障碍。根据发现的结果,我们的发现,我们的发现,我们的发现,我们的发现,我们的发现,我们的发现是有效的。介绍新型3 DOF平行操纵器的设计,实现和实验评估,以治疗M. M.的平衡障碍,机器人平台允许角运动脚踝基于其拟人化的自由。赋予上下平台的最终效应分别旨在评估每只脚的压力分布和身体的com。在机器人平台的高级控制中,用于调节任务的难度水平。在这项研究中,在模拟环境中得出并验证了机器人的运动学和动态分析。还通过PID控制器成功实现了对原型的低级控制。每个平台的容量都通过一组实验来评估,考虑评估最终效应器上的脚注和类似对象的压力分布和COM。实验结果表明,这样的系统井井有条,需要通过APA和CPA进行平衡技能培训和评估。
translated by 谷歌翻译
二次运动的准确轨迹跟踪控制对于在混乱环境中的安全导航至关重要。但是,由于非线性动态,复杂的空气动力学效应和驱动约束,这在敏捷飞行中具有挑战性。在本文中,我们通过经验比较两个最先进的控制框架:非线性模型预测控制器(NMPC)和基于差异的控制器(DFBC),通过以速度跟踪各种敏捷轨迹,最多20 m/s(即72 km/h)。比较在模拟和现实世界环境中进行,以系统地评估这两种方法从跟踪准确性,鲁棒性和计算效率的方面。我们以更高的计算时间和数值收敛问题的风险来表明NMPC在跟踪动态不可行的轨迹方面的优势。对于这两种方法,我们还定量研究了使用增量非线性动态反演(INDI)方法添加内环控制器的效果,以及添加空气动力学阻力模型的效果。我们在世界上最大的运动捕获系统之一中进行的真实实验表明,NMPC和DFBC的跟踪误差降低了78%以上,这表明有必要使用内环控制器和用于敏捷轨迹轨迹跟踪的空气动力学阻力模型。
translated by 谷歌翻译