论文标题
部分可观测时空混沌系统的无模型预测
Leg Shaping and Event-Driven Control of a Small-Scale, Low-DoF, Two-Mode Robot
论文作者
论文摘要
在小规模的移动机器人中，多模式运动可以帮助补偿有限的执行能力。但是，在小型陆地机器人中支持多种运动模式或步态通常需要具有较低运动效率的复杂设计。在这项工作中，只有两个自由度（DOF）的10厘米机器人可以实现腿部和滚动步态。这是通过腿部塑造来实现的，该腿部促进了全身滚动和事件驱动的控制，该控制使用简单的惯性传感器测量来保持运动。分别以低运输成本的腿和滚动模式下的速度约为0.4和2.2个体长度。提出的设计方法和控制技术可能有助于设计进一步的微型机器人，依靠较小的动作范围的传感器。
Among small-scale mobile robots, multi-modal locomotion can help compensate for limited actuator capabilities. However, supporting multiple locomotion modes or gaits in small terrestrial robots typically requires complex designs with low locomotion efficiency. In this work, legged and rolling gaits are achieved by a 10~cm robot having just two degrees of freedom (DoF). This is acheived by leg shaping that facilitates whole body rolling and event-driven control that maintains motion using simple inertial sensor measurements. Speeds of approximately 0.4 and 2.2 body lengths per second are achieved in legged and rolling modes, respectively, with low cost of transport. The proposed design approach and control techniques may aid in design of further miniaturized robots reliant on transducers with small range-of-motion.
