731 research outputs found

    MIRO: A robot โ€œMammalโ€ with a biomimetic brain-based control system

    Get PDF
    We describe the design of a novel commercial biomimetic brain-based robot, MIRO, developed as a prototype robot companion. The MIRO robot is animal-like in several aspects of its appearance, however, it is also biomimetic in a more significant way, in that its control architecture mimics some of the key principles underlying the design of the mammalian brain as revealed by neuroscience. Specifically, MIRO builds on decades of previous work in developing robots with brain-based control systems using a layered control architecture alongside centralized mechanisms for integration and action selection. MIROโ€™s control system operates across three core processors, P1-P3, that mimic aspects of spinal cord, brainstem, and forebrain functionality respectively. Whilst designed as a versatile prototype for next generation companion robots, MIRO also provides developers and researchers with a new platform for investigating the potential advantages of brain-based control

    Modeling, Control and Locomotion Planning of an Anguilliform Fish Robot

    Get PDF
    Ph.DDOCTOR OF PHILOSOPH

    ๋ถ„์‚ฐ๋œ ๋กœํ„ฐ๋กœ ๊ตฌ๋™๋˜๋Š” ๋น„ํ–‰ ์Šค์ผˆ๋ ˆํ†ค ์‹œ์Šคํ…œ์˜ ๋””์ž์ธ ์ƒํƒœ์ถ”์ • ๋ฐ ์ œ์–ด

    Get PDF
    ํ•™์œ„๋…ผ๋ฌธ(๋ฐ•์‚ฌ)--์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› :๊ณต๊ณผ๋Œ€ํ•™ ๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€,2020. 2. ์ด๋™์ค€.In this thesis, we present key theoretical components for realizing flying aerial skeleton system called LASDRA (large-size aerial skeleton with distributed rotor actuation). Aerial skeletons are articulated aerial robots actuated by distributed rotors including both ground connected type and flying type. These systems have recently attracted interest and are being actively researched in several research groups, with the expectation of applying those for aerial manipulation in distant/narrow places, or for the performance with entertaining purpose such as drone shows. Among the aerial skeleton systems, LASDRA system, proposed by our group has some significant advantages over the other skeleton systems that it is capable of free SE(3) motion by omni-directional wrench generation of each link, and also the system can be operated with wide range of configuration because of the 3DOF (degrees of freedom) inter-link rotation enabled by cable connection among the link modules. To realize this LASDRA system, following three components are crucial: 1) a link module that can produce omni-directional force and torque and enough feasible wrench space; 2) pose and posture estimation algorithm for an articulated system with high degrees of freedom; and 3) a motion generation framework that can provide seemingly natural motion while being able to generate desired motion (e.g., linear and angular velocity) for the entire body. The main contributions of this thesis is theoretically developing these three components, and verifying these through outdoor flight experiment with a real LASDRA system. First of all, a link module for the LASDRA system is designed with proposed constrained optimization problem, maximizing the guaranteed feasible force and torque for any direction while also incorporating some constraints (e.g., avoiding inter-rotor air-flow interference) to directly obtain feasible solution. Also, an issue of ESC-induced (electronic speed control) singularity is first introduced in the literature which is inevitably caused by bi-directional thrust generation with sensorless actuators, and handled with a novel control allocation called selective mapping. Then for the state estimation of the entire LASDRA system, constrained Kalman filter based estimation algorithm is proposed that can provide estimation result satisfying kinematic constraint of the system, also along with a semi-distributed version of the algorithm to endow with system scalability. Lastly, CPG-based motion generation framework is presented that can generate natural biomimetic motion, and by exploiting the inverse CPG model obtained with machine learning method, it becomes possible to generate certain desired motion while still making CPG generated natural motion.๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ๋น„ํ–‰ ์Šค์ผˆ๋ ˆํ†ค ์‹œ์Šคํ…œ LASDRA (large-size aerial skeleton with distributed rotor actuation) ์˜ ๊ตฌํ˜„์„ ์œ„ํ•ด ์š”๊ตฌ๋˜๋Š” ํ•ต์‹ฌ ๊ธฐ๋ฒ•๋“ค์„ ์ œ์•ˆํ•˜๋ฉฐ, ์ด๋ฅผ ์‹ค์ œ LASDRA ์‹œ์Šคํ…œ์˜ ์‹ค์™ธ ๋น„ํ–‰์„ ํ†ตํ•ด ๊ฒ€์ฆํ•œ๋‹ค. ์ œ์•ˆ๋œ ๊ธฐ๋ฒ•์€ 1) ์ „๋ฐฉํ–ฅ์œผ๋กœ ํž˜๊ณผ ํ† ํฌ๋ฅผ ๋‚ผ ์ˆ˜ ์žˆ๊ณ  ์ถฉ๋ถ„ํ•œ ๊ฐ€์šฉ ๋ Œ์น˜๊ณต๊ฐ„์„ ๊ฐ€์ง„ ๋งํฌ ๋ชจ๋“ˆ, 2) ๋†’์€ ์ž์œ ๋„์˜ ๋‹ค๊ด€์ ˆ๊ตฌ์กฐ ์‹œ์Šคํ…œ์„ ์œ„ํ•œ ์œ„์น˜ ๋ฐ ์ž์„ธ ์ถ”์ • ์•Œ๊ณ ๋ฆฌ์ฆ˜, 3) ์ž์—ฐ์Šค๋Ÿฌ์šด ์›€์ง์ž„์„ ๋‚ด๋Š” ๋™์‹œ์— ์ „์ฒด ์‹œ์Šคํ…œ์ด ์†๋„, ๊ฐ์†๋„ ๋“ฑ ์›ํ•˜๋Š” ์›€์ง์ž„์„ ๋‚ด๋„๋ก ํ•  ์ˆ˜ ์žˆ๋Š” ๋ชจ์…˜ ์ƒ์„ฑ ํ”„๋ ˆ์ž„์›Œํฌ๋กœ ๊ตฌ์„ฑ๋œ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ์šฐ์„  ๋งํฌ ๋ชจ๋“ˆ์˜ ๋””์ž์ธ์„ ์œ„ํ•ด ์ „๋ฐฉํ–ฅ์œผ๋กœ ๋ณด์žฅ๋˜๋Š” ํž˜๊ณผ ํ† ํฌ์˜ ํฌ๊ธฐ๋ฅผ ์ตœ๋Œ€ํ™”ํ•˜๋Š” ๊ตฌ์† ์ตœ์ ํ™”๋ฅผ ์‚ฌ์šฉํ•˜๊ณ , ์‹ค์ œ ์ ์šฉ๊ฐ€๋Šฅํ•œ ํ•ด๋ฅผ ์–ป๊ธฐ ์œ„ํ•ด ๋ช‡๊ฐ€์ง€ ๊ตฌ์†์กฐ๊ฑด(๋กœํ„ฐ ๊ฐ„ ๊ณต๊ธฐ ํ๋ฆ„ ๊ฐ„์„ญ์˜ ํšŒํ”ผ ๋“ฑ)์„ ๊ณ ๋ คํ•œ๋‹ค. ๋˜ํ•œ ์„ผ์„œ๊ฐ€ ์—†๋Š” ์•ก์ธ„์—์ดํ„ฐ๋กœ ์–‘๋ฐฉํ–ฅ ์ถ”๋ ฅ์„ ๋‚ด๋Š” ๊ฒƒ์—์„œ ์•ผ๊ธฐ๋˜๋Š” ESC ์œ ๋ฐœ ํŠน์ด์  (ESC-induced singularity) ์ด๋ผ๋Š” ๋ฌธ์ œ๋ฅผ ์ฒ˜์Œ์œผ๋กœ ์†Œ๊ฐœํ•˜๊ณ , ์ด๋ฅผ ํ•ด๊ฒฐํ•˜๊ธฐ ์œ„ํ•ด ์„ ํƒ์  ๋งตํ•‘ (selective mapping) ์ด๋ผ๋Š” ๊ธฐ๋ฒ•์„ ์ œ์‹œํ•œ๋‹ค. ์ „์ฒด LASDRA ์‹œ์Šคํ…œ์˜ ์ƒํƒœ์ถ”์ •์„ ์œ„ํ•ด ์‹œ์Šคํ…œ์˜ ๊ธฐ๊ตฌํ•™์  ๊ตฌ์†์กฐ๊ฑด์„ ๋งŒ์กฑํ•˜๋Š” ๊ฒฐ๊ณผ๋ฅผ ์–ป์„ ์ˆ˜ ์žˆ๋„๋ก ๊ตฌ์† ์นผ๋งŒ ํ•„ํ„ฐ ๊ธฐ๋ฐ˜์˜ ์ƒํƒœ์ถ”์ • ๊ธฐ๋ฒ•์„ ์ œ์‹œํ•˜๊ณ , ์‹œ์Šคํ…œ ํ™•์žฅ์„ฑ์„ ๊ณ ๋ คํ•˜์—ฌ ๋ฐ˜ ๋ถ„์‚ฐ (semi-distributed) ๊ฐœ๋…์˜ ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ํ•จ๊ป˜ ์ œ์‹œํ•œ๋‹ค. ๋งˆ์ง€๋ง‰์œผ๋กœ ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ์ž์—ฐ์Šค๋Ÿฌ์šด ์›€์ง์ž„์˜ ์ƒ์„ฑ์„ ์œ„ํ•˜์—ฌ CPG ๊ธฐ๋ฐ˜์˜ ๋ชจ์…˜ ์ƒ์„ฑ ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ์ œ์•ˆํ•˜๋ฉฐ, ๊ธฐ๊ณ„ ํ•™์Šต ๋ฐฉ๋ฒ•์„ ํ†ตํ•ด CPG ์—ญ์—ฐ์‚ฐ ๋ชจ๋ธ์„ ์–ป์Œ์œผ๋กœ์จ ์ „์ฒด ์‹œ์Šคํ…œ์ด ์›ํ•˜๋Š” ์›€์ง์ž„์„ ๋‚ผ ์ˆ˜ ์žˆ๋„๋ก ํ•œ๋‹ค.1 Introduction 1 1.1 Motivation and Background 1 1.2 Research Problems and Approach 3 1.3 Preview of Contributions 5 2 Omni-Directional Aerial Robot 7 2.1 Introduction 7 2.2 Mechanical Design 12 2.2.1 Design Description 12 2.2.2 Wrench-Maximizing Design Optimization 13 2.3 System Modeling and Control Design 20 2.3.1 System Modeling 20 2.3.2 Pose Trajectory Tracking Control 22 2.3.3 Hybrid Pose/Wrench Control 22 2.3.4 PSPM-Based Teleoperation 24 2.4 Control Allocation with Selective Mapping 27 2.4.1 Infinity-Norm Minimization 27 2.4.2 ESC-Induced Singularity and Selective Mapping 29 2.5 Experiment 38 2.5.1 System Setup 38 2.5.2 Experiment Results 41 2.6 Conclusion 49 3 Pose and Posture Estimation of an Aerial Skeleton System 51 3.1 Introduction 51 3.2 Preliminary 53 3.3 Pose and Posture Estimation 55 3.3.1 Estimation Algorithm via SCKF 55 3.3.2 Semi-Distributed Version of Algorithm 59 3.4 Simulation 62 3.5 Experiment 65 3.5.1 System Setup 65 3.5.2 Experiment of SCKF-Based Estimation Algorithm 66 3.6 Conclusion 69 4 CPG-Based Motion Generation 71 4.1 Introduction 71 4.2 Description of Entire Framework 75 4.2.1 LASDRA System 75 4.2.2 Snake-Like Robot & Pivotboard 77 4.3 CPG Model 79 4.3.1 LASDRA System 79 4.3.2 Snake-Like Robot 80 4.3.3 Pivotboard 83 4.4 Target Pose Calculation with Expected Physics 84 4.5 Inverse Model Learning 86 4.5.1 LASDRA System 86 4.5.2 Snake-Like Robot 89 4.5.3 Pivotboard 90 4.6 CPG Parameter Adaptation 93 4.7 Simulation 94 4.7.1 LASDRA System 94 4.7.2 Snake-Like Robot & Pivotboard 97 4.8 Conclusion 101 5 Outdoor Flight Experiment of the F-LASDRA System 103 5.1 System Setup 103 5.2 Experiment Results 104 6 Conclusion 111 6.1 Summary 111 6.2 Future Works 112Docto

    MOTION CONTROL SIMULATION OF A HEXAPOD ROBOT

    Get PDF
    This thesis addresses hexapod robot motion control. Insect morphology and locomotion patterns inform the design of a robotic model, and motion control is achieved via trajectory planning and bio-inspired principles. Additionally, deep learning and multi-agent reinforcement learning are employed to train the robot motion control strategy with leg coordination achieves using a multi-agent deep reinforcement learning framework. The thesis makes the following contributions: First, research on legged robots is synthesized, with a focus on hexapod robot motion control. Insect anatomy analysis informs the hexagonal robot body and three-joint single robotic leg design, which is assembled using SolidWorks. Different gaits are studied and compared, and robot leg kinematics are derived and experimentally verified, culminating in a three-legged gait for motion control. Second, an animal-inspired approach employs a central pattern generator (CPG) control unit based on the Hopf oscillator, facilitating robot motion control in complex environments such as stable walking and climbing. The robot\u27s motion process is quantitatively evaluated in terms of displacement change and body pitch angle. Third, a value function decomposition algorithm, QPLEX, is applied to hexapod robot motion control. The QPLEX architecture treats each leg as a separate agent with local control modules, that are trained using reinforcement learning. QPLEX outperforms decentralized approaches, achieving coordinated rhythmic gaits and increased robustness on uneven terrain. The significant of terrain curriculum learning is assessed, with QPLEX demonstrating superior stability and faster consequence. The foot-end trajectory planning method enables robot motion control through inverse kinematic solutions but has limited generalization capabilities for diverse terrains. The animal-inspired CPG-based method offers a versatile control strategy but is constrained to core aspects. In contrast, the multi-agent deep reinforcement learning-based approach affords adaptable motion strategy adjustments, rendering it a superior control policy. These methods can be combined to develop a customized robot motion control policy for specific scenarios

    A Self-Exciting Controller for High-Speed Vertical Running

    Get PDF
    Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock or reference signal. Specifically, we show that this โ€œself-excitingโ€ controller does indeed generate an โ€œalmostโ€ globally asymptotically stable limit cycle: the attractor basin is as large as topologically possible and includes all the state space excluding a set with empty interior. We offer an empirical comparison of the resulting climbing behavior to that achieved by a more conventional clock-generated gait trajectory tracker. The new, self-exciting gait generator exhibits a marked improvement in vertical climbing speed, in fact setting a new benchmark in dynamic climbing by achieving a vertical speed of 1.5 body lengths per second. For more information: Kod*La

    Octopus-inspired multi-arm robotic swimming

    Get PDF
    The outstanding locomotor and manipulation characteristics of the octopus have recently inspired the development, by our group, of multi-functional robotic swimmers, featuring both manipulation and locomotion capabilities, which could be of significant engineering interest in underwater applications. During its little-studied arm-swimming behavior, as opposed to the better known jetting via the siphon, the animal appears to generate considerable propulsive thrust and rapid acceleration, predominantly employing movements of its arms. In this work, we capture the fundamental characteristics of the corresponding complex pattern of arm motion by a sculling profile, involving a fast power stroke and a slow recovery stroke. We investigate the propulsive capabilities of a multi-arm robotic system under various swimming gaits, namely patterns of arm coordination, which achieve the generation of forward, as well as backward, propulsion and turning. A lumped-element model of the robotic swimmer, which considers arm compliance and the interaction with the aquatic environment, was used to study the characteristics of these gaits, the effect of various kinematic parameters on propulsion, and the generation of complex trajectories. This investigation focuses on relatively high-stiffness arms. Experiments employing a compliant-body robotic prototype swimmer with eight compliant arms, all made of polyurethane, inside a water tank, successfully demonstrated this novel mode of underwater propulsion. Speeds of up to 0.26 body lengths per second (approximately 100 mm s(-1)), and propulsive forces of up to 3.5 N were achieved, with a non-dimensional cost of transport of 1.42 with all eight arms and of 0.9 with only two active arms. The experiments confirmed the computational results and verified the multi-arm maneuverability and simultaneous object grasping capability of such systems

    Contemporary Robotics

    Get PDF
    This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

    Bio-Inspired Robotics

    Get PDF
    Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensoryโ€“motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field
    • โ€ฆ
    corecore