欠驱动机器人

A FREE-FLOATING UNDERACTUATED ROBOT WITH PASSIVE JOINTS

The material-arts super-star Bruce Lee played a pair of numb-chucks (three-link-sticks) which is composed of two passive joints connecting three hardwood segments together. Bruce can fast project the tip of each numb-chucks to a target, producing a tremendous impact force. Consider Bruce's arm as a actively controlled manipulator, and his numb-chucks is a linkage of passive joints. Then the total system is a combination of passive and active joints. We called such a system an "underactuated robot". Making use of the dynamic interaction between the passive joints and active joints, the robot can provide desirable motion and force dynamically. Studying such a system is of significance in controlling a robot when one or more joints fail in function, or when less power can be used for energy saving purpose, or when some joints are intentionally designed to be passive for human safety consideration. We have build a free-floating underactuated robot with three joints that can be switched to be passive or active independently, and we are currently examining the issues such as controllability, dynamic coupling index, control strategy, nonholonomic motion planning and close-chain durality.

Key Investigators: Yangsheng Xu, Mike Loi-Wah SUN

相关内容

• 单轮机器人
• 空间机器人
• 欠驱动机器人

我们将主动与被动的关节组成的系统称为欠驱动系统。由欠驱动系统开发的机器人称为欠驱动机器人。我们可能对超级影星李小龙运用双截棍的出神入化记忆犹新，双截棍就是是由两个被动的连接点连接三根木头块组成的，它实际上就是一个欠驱动系统。

　　由于利用了主动关节与被动关节之间的动态交互，机器人可以动态产生预想的运动和力。研究这样一个系统对于控制机器人来说是很重要的，特别是当发生以下情形时：

　　(1)当一个关节或者多个关节失效；

　　(2)当所能提供的能量较少，需要节能；

　　(3)当处于人的安全的考虑，有些关节特意设计成被动。

　　我们开发了自由漂浮的具有三个关节的欠驱动机器人，三个关节可以独立地在主动和被动之间转化。现在，我们正在研究该系统的可控性、控制策略及运动规划等特性。