LASDRA: Large-Size Aerial Skeleton System with Distributed Rotor Actuation
| Autor: | Sangyul Park, Joonmo Ahn, Hyunsoo Yang, Dongjun Lee, Jeongseob Lee, Dongwon Son |
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| Rok vydání: | 2018 |
| Předmět: |
Electric motor
0209 industrial biotechnology business.industry Computer science Rotor (electric) 010401 analytical chemistry Robotics 02 engineering and technology 01 natural sciences 0104 chemical sciences law.invention 020901 industrial engineering & automation Control theory law Trajectory Robot Torque Artificial intelligence Hydraulic machinery business Actuator |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2018.8460713 |
| Popis: | Electrical motor and hydraulic actuation widely-used in robotics are “internal actuation” with their actuators sitting at the joint between two links. This internal actuation is fundamentally limiting to construct a large-size dexterously-articulated robot, since any external force (and its own link weight) is to be accumulated to the base multiplied by the moment arm length, requiring extremely strong/sturdy base actuator/structure as the system size increases. In this paper, we propose a novel robotic system, LASDRA (large-size aerial skeleton with distributed rotor actuation), which, by utilizing distributed rotors as “external actuation”, can overcome this limitation of internal actuation and enables us to realize large-size dexterously-articulated robots. We present its design and modeling, joint locking strategy to increase its loading capability, and also a novel decentralized control scheme to allow for compliant operation with scalability against the number of links. Trajectory tracking and valve turning experiments are also performed to validate the theory. |
| Databáze: | OpenAIRE |
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