八足蜘蛛机器人文献翻译.docx
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八足蜘蛛机器人文献翻译
大型仿生机器人结构设计
英文翻译
分 院 理工学院
专业11机械3班
届别11届
学号114174330
姓名刘圣斌
指导教师梁冬泰
20014年12月17日
<文献翻译一:
原文>学位论文
RoboticsandAutonomousSystems
Volume59,Issue2,February2011,Pages142–150
1Efficientforcedistributionandlegpostureforabio-inspiredspiderrobot
∙R.Vidoni, , ,
∙A.Gasparetto
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doi:
10.1016/j.robot.2010.10.001
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1.1Abstract
Leggedwalkingandclimbingrobotshaverecentlyachievedimportantresultsanddevelopments,buttheystillneedfurtherimprovementandstudy.Asdemonstratedbyrecentworks,bio-mimesiscanleadtoimportanttechnicalsolutionsinordertoachieveefficientsystemsabletoclimb,walk,flyorswim(Saunderset al.,2006[36],Ayers,2001 [25],SafakandAdams,2002 [26]).Inthispaper,takingintoaccounttheanatomyandtheadhesiveandlocomotioncapabilitiesofthespider(i.e.,aneight-leggedsystem),wepresentontheonehandastudyofthefootforceandtorquedistributionindifferentoperativeandslopeconditionsand,ontheotherhand,apostureevaluationbycomparingdifferentlegconfigurationsinordertominimizethetorqueeffortrequirements.
1.1.1.1Researchhighlights
►Weaddressedtheforceandtorquedistributionforaneight-leggedspiderrobot.►Weconsideredtheanatomyandtheadhesiveandlocomotioncapabilitiesofthespider.►Thestaticproblemissolvedinalltheworkingconditions.►Weevaluateddifferentbio-mimeticposturesfromaminimumeffortpointofview.►TheC-shapepostureallowsaloweffortandatorquediminutionalongthelegjoints.
1.2Keywords
∙Climbingspiderrobot;
∙Leggedmechanism;
∙Bio-mimesis;
∙Forcedistribution;
∙Adhesion
1.31.Introduction
Mostofthevehiclesthatwearefamiliarwithusewheelsfortheirlocomotion.Theycanachievehighspeedandrelativelysmallcontrolcomplexitybut,evenwithcomplexsuspensionsystems,theypresentalotoflimitationsinirregularandroughterrains(e.g.,hazardousenvironmentsandunevenground).Withleggedsystems,mostofthedifficultiescanbeovercomethankstotheflexibilityandgroundadaptation.Indeed,theopportunitytochoosebetweendifferentavailablesolutionsandtoadaptandcontrolthepositionofthecenterofmassofthesystemallowsavoidingslippageandoverturnsduetoterrainirregularities.Thecoststhathavetobepaidarelowerspeedoflocomotionandhighercomplexityofthecontrolwithrespecttowheeledsystems.However,bio-inspiredlocomotioncontrollersbasedoncentralpatterngenerators(CPGs;see [1]),i.e.,neuralcircuitscapableofproducingcoordinatedpatternsofhigh-dimensionalrhythmicoutputsignalswhilereceivingonlysimpleinputsignals,andonreflexivecontrollers,i.e.,Crusecontrolforthecoordinationofthelegs [2] and [3],arelookingtofillthegap.
Moreover,duetothefactthatthelegsareindependentlycontrolled,leggedsystemshavealargenumberofdegreesoffreedom(DOFs)tobecoordinatedinordertocontroltheposition,balancetheforces(e.g.,load,externalforces)andconsumeaslittleenergyaspossible.Sincethetaskoffindinganoptimalforceallocationshouldbedoneinrealtime,fastalgorithmsandcontrolfunctionshavetobeused,asalsowhenabodyforcecommandsolutionisnotachievableandanewplanhastobeformulated.
Leggedrobotshaveabodyandanumberofarticulatedlegsthatstartfromit.Eachofthesekinematicchainscanbeviewedasamanipulatorthatactslikealimbandcontributestotheoverallpositionandequilibriumofthestructure.
Inordertoevaluateandcreateaneffectiveleggedrobot,theideaistodrawinspirationfromnature.Innature,differentleggedsystemsabletowalkandclimbdifferentsurfaceswithalowenergeticconsumptionandhighautonomycanbefound.Indeed,safeattachmenttoandeasydetachmentfromsmoothsubstratesisamajorfeatureofadiverserangeofanimalspecies.Attachmentwithoutusingfluids,so-calleddryadhesion,isexploitedbygeckosand Evarchaarcuata spidersbymeansoffibrillarelements [4], [5], [6] and [7].
Theadhesionforceseemstoberelatedtotheapproachinganglebetweentheattachingelementsandthesurface:
themaximumadhesionconditionisreachedwhentheangleisaround30°;aslidingconditionoccurswhentheangleissmaller,anddetachmentoccurswhentheangleisbigger [8] and [9].
Inthisworkourattentionisfocusedonabio-mimeticspiderrobot.
Startingfromthekinematicmodelandsimulator(Fig. 1),whicharetheresultofapreviousbiologicalandkinematicstudy [10] and [11],thestaticandquasi-staticproblemsappliedtothespidereight-leggedsystemindifferentslopeconditionsaresolved.
Fig. 1.
Kinematicmodelofthespiderrobot.Eachlegiscomposedofthreelinksandthreejoints(oneuniversalandtworevolutepairs;see [10] and [11]).
Figureoptions
InSection 2,theanalysisofthedifferenttheoriesandapproachesrelatedtotheforceandtorquefootdistributionthatcanbefoundinliterature [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22],[23] and [24] arereviewed.
InSection 3,thetheoryoftheoptimalforcedistributionispresentedandextendedinordertosearchforaneffectiveresultforthespidersysteminallworkingconditions(i.e.,flat,verticalandinvertedsurfaces).
InSection 4 ananalysisoftheoverallamountoftorquethathastobeappliedformaintainingdifferentconfigurationsandacomparisonbetweendifferentbio-mimeticposturesandconditionsforthelegsismade.
Finally,concludingremarksandfutureworkdirectionsarepresentedinSection 5.
2.Leggedrobots:
theforcedistributionproblem(FDP)
Thecomplexityoflightleggedrobots,suchassix-leggedandfour-leggedrobots,isduetothedifferentkinematicchains(i.e.,legs)thatduringthelocomotionhavetodeveloptwodifferentactions:
thosethatareinarestedconditionhavetosupportandshiftthebodywhilebalancingtheforces;thelegsinflighthavetoreachthefuturesupportposition.
Moreover,duetotheexistenceoffouractuatedjointsineachleg,asin [10] and [11],theoctopodmodelhasaredundantactuationleadingtomoreactivejointsthanthenumberofrobotdegreesoffreedom.Therefore,therearefewerforcemomentbalanceequationsthanunknowndesignvariables,andthemathematicalsolutionoftheseequationsisnotunique,duetothepresenceofanon-squaredmatrix.Lookingattherealworld,therearesomephysicalconstraintsthathavetobetakenintoaccount(i.e.,thecontactnature,friction,adhesion,torquelimits)andthatcanberepresentedonlythroughinequalitiesduetothenatureofthecontact.
Aneffectiveapproachistheonebasedonthedistributionofforcesthattrytosolvetheso-called forcedistributionproblem (FDP;see,e.g., [13]).Eachlegthattouchesandsupportsthebodyappliesacertainforce(fd)onthesupportpointthatisbalancedbymeansofan(equalandopposite)reactionforce(fr)ofthesubstrate. fd isthedistributedforcebecauseitrepresentsthedistributedcomponentoftheexternalforcesandmomentsappliedonthatleg.Hence,eachlegcanbeconsideredasamanipulatoranchoredtothebodythathastobeabletogenerateonthetipofthelastlimboftheleg(i.e.,theend-effector)an fd forceinordertocreateastaticequilibrium.Thegeometryofthestructureandthepositionofthelegsproducethedistributionofforcesandmomentsonthelegs.Sincethemathematicalsolutionisnotuniqueandthephysicalconstraintsareonlyinequalities,theFDPinvolvestheoptimizationoftheforceforthelegs.Then,theFDPcanbeformulatedasanonlinearconstrainedprogrammingproblemundernonlinearequalityandinequalityconstraints.
Intheliterature,severalapproachesandalgorithmshavebeenproposedforsolvingandfindingtheoptimalsolutionoftheFDPforleggedrobots.Therearefourmainmethodsthatcanbestudiedandevaluatedforarealimplementationofthecontrol.
1.
Linear-programming(LP)method [14].
2.
Compact-dualLP(CDLP)method [16].
3.
Quadraticprogramming(QP)method [21].
4.
Analyticalmethod [22].
Incomparisonwiththeexistingliterature,severaloriginalfeaturesofthisworkcanberemarkedupon.
Thespiderisaneight-leggedsystem,whereasusuallysix-leggedandfour-leggedrobotsarestudied.NoapplicationsoftheFDPproblemforaneight-leggedsystemhavebeenfoundintheliterature.Asaconsequence,atleastfourlegsareincontactwiththesubstrateinthesupportphasecondition(i.e.,fourlegsincontactandfourlegsinflight)andthehypothesisadoptedforsix-leggedrobotsinordertoreducethecomplexityofthesystem [22] cannotbeapplied.
Moreover,thespiderroboticsystemmustbeabletowalkandclimbondifferentslopeconditionsuptotheinvertedcondition;hence,theadhesivecapabilitieshavetobetakenintoaccount.
Finally,inthemodelpresentedinthiswork,eachspiderleghasfourDOFswhileintheliteraturethenumberofDOFsoftheeight-leggedrobotsisusuallythreeorless [25], [26] and [27].
Thus,thepresentstudyismoregeneralwithrespecttoalltheotherstudiesdealingwithleggedsystems.Inparticular,notonlythefrictionforcebutalsotheadhesionforceshavetobetakenintoaccountinordertosimulateandcontrolthesystemintheclimbingphases.
Theartificialattachingsystemsdevelopeduntilnow [28], [29], [30] and [31] donotreachtheadhesivecapabilitiesoftherealones,andusuallydegradethemselveswithuse;asaconsequence,inordertoevaluateandsimulateanefficientmodel,thebiologicalcharacteristicsandadhesivecapabilitiesofthespiderE.arcuata [6] and [7] willbeu
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