Proprioceptive-Inertial Autonomous Locomotion for Articulated Robots
| Autor: | Guillaume Sartoretti, Junyu Nan, Zhixin Feng, Matthew Travers, Howie Choset, Francesco Ruscelli |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Inertial frame of reference Computer science 02 engineering and technology Gait Motion (physics) 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Gait (human) Control theory Climb Robot 030217 neurology & neurosurgery Haptic technology |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2018.8460584 |
| Popis: | Inspired by the ability of animals to rely on proprioception and vestibular feedback to adapt their gait, we propose a modular framework for autonomous locomotion that relies on force sensing and inertial information. A first controller exploits anti-compliance, a new application of positive force feedback, to quickly react against obstacles upon impact. We hypothesize that, in situations where a robot experiences occasional impacts with the environment, anti-compliance can help negotiate unknown obstacles, similar to biological systems where positive feedback enables fast responses to external stimuli. A novel parallel controller, based on a bi-stable dynamical system, continuously adjusts the robot's direction of locomotion, and reverts it in reaction to major swerves. We present experimental results, demonstrating how our framework allows a snake robot to autonomously locomote through a row of unevenly-spaced obstacles. Finally, we extend our proprioceptive controller to legged locomotion, showing how a hexaprint robot can adapt its motion to climb over obstacles. |
| Databáze: | OpenAIRE |
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