RHex系列机器人.ppt

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1、RHex系列机器人Mecheligent公司,开发用于军事目的Capabilities of RHex It is the only robot that is capable of performing such a wide variety of behaviors as a single, autonomous robot. This performance is due to the significant amount of inspiration from the study of biological systems, leading to a number of princip

2、les underlying RHexs design.The use of legs instead of wheels or tracks opens the way for a large number of behaviorsPassive compliance in the legs overcomes limitations of underactuation and helps simplify mechanical design, yielding robustnessSprawled posture, inspired from insects, results in pas

3、sive stabilization of lateral motionControl is open-loop at the gait level, but closed loop at the task level. Stability comes as a result of passive mechanics, not high-bandwidth active controlRunning on reasonably flat, natural terrain at speeds up to 5 body lengths per second (just over2.25m/s)。C

4、limbing a wide range of stairsClimbing slopes up to 45 degreesSuccessfully traverse badly broken terrain with large rocks and obstaclesFlip itself over to recover nominal body orientationLeaping across ditches up to 40cm wide Traverse obstacles as high as 20cm (about twice RHexs leg clearance) Conti

5、nuously run for 45 minutes, covering up to 3 miles with an efficient gait Walk and run upside down Support remote control from up to 150m distanceBehaviors that increasingly relied on feedback from sensors such as the onboard gyro, camera and strain gauges on the legs. Perform autonomous stabilizati

6、on of yaw heading while running using feedback from the gyroAutonomously follow a line on the ground without any operator controlBlob followLocomote on only two legs using active pendulum stabilization Biology can increase performance in machines In the long run, we aim to articulate broad principle

7、s with mathematically precise formula-tions of biomechanical observed fact and then translate these into specific design practices We present empirical data establishing that RHex exhibits a dynamical (“bouncing”) gaitits mass center moves in a manner well approximated by trajectories from a Spring

8、Loaded Inverted Pendulum (SLIP)characteristic of a large and diverse group of running animals, when its central clock, body mass, and leg stiffnesses are appropriately tuned. Even now, prior to the imposition of more so-phisticated hierarchical controllers, RHexs intrinsic characteristics simple, rugged, light, autonomous, down-sizeable, reliable quasi-static operation, demonstrated dynamical capability (e.g., great jumping potential in reduced gravity environments) all make Rhex an ideal candidate for a planetary explorer.