具备分布式控制和环境感知能力的第二代模块化机器人EMERGE
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摘要
针对第一代EMERGE模块化机器人控制系统和感知能力的局限性问题,在第一代基础上,提出了集成分布式和集中式控制方式的、具备周围环境感知能力的第二代EMERGE模块化机器人。首先分析了第一代机器人的基本性能特征,确立了模块升级改造的方向。在此基础上,通过对模块的连接机制、控制系统的分析设计,给出了具备控制方式切换功能的分布式和集中式的控制系统,实现了控制方式的灵活切换以及模块间自由通信的能力。此外,在模块的四个连接面上设计了接近距离传感器,实现对周围环境的感知能力。最后以第二代的机器人为实验对象,进行了蠕动和迷宫运动实验。实验结果表明,第二代EMERGE模块化机器人控制系统可靠、控制方式灵活,拓展了机器人执行不同任务的能力。
Aiming at the limitations of robot control system and sensing capabilities of the first-generation modular robot EMERGE. On the basis of the first-generation robot,the second-generation modular robot EMERGE with integrate distributed and centralized control mode as well as environment detecting ability was proposed in this thesis. Firstly,the fundamental performance characteristics of the first generation of robots were analyzed,and moreover,the direction of upgrading and reconstruction of the modules was established in this thesis. Based on this,the distributed and centralized control system with control mode switching function was given by means of the analysis of the connection mechanism of the module and the control system. Additionally,the flexible switching of the control mode and the ability of free communication between the modules were realized. What's more,a proximity sensor was designed on the four connecting surfaces of the module to realize the perception of the surrounding environment. Finally,a second-generation robot was used as the experimental object for implementing peristalsis and labyrinth motion experiments. The experimental result show that the control system of second-generation EMERGE modular robot is reliable,control mode is flexible,and the robot's ability to implement different tasks is expended.
Aiming at the limitations of robot control system and sensing capabilities of the first-generation modular robot EMERGE. On the basis of the first-generation robot,the second-generation modular robot EMERGE with integrate distributed and centralized control mode as well as environment detecting ability was proposed in this thesis. Firstly,the fundamental performance characteristics of the first generation of robots were analyzed,and moreover,the direction of upgrading and reconstruction of the modules was established in this thesis. Based on this,the distributed and centralized control system with control mode switching function was given by means of the analysis of the connection mechanism of the module and the control system. Additionally,the flexible switching of the control mode and the ability of free communication between the modules were realized. What's more,a proximity sensor was designed on the four connecting surfaces of the module to realize the perception of the surrounding environment. Finally,a second-generation robot was used as the experimental object for implementing peristalsis and labyrinth motion experiments. The experimental result show that the control system of second-generation EMERGE modular robot is reliable,control mode is flexible,and the robot's ability to implement different tasks is expended.
引文
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9赵杰,唐术锋,朱延河,等.基于万向式关节的模块化自重构机器人[J].机器人,2010,32(5):608-613Zhao Jie,Tang Shufeng,Zhu Yanhe,et al.A modular self-reconfigurable robot based on universal joint[J].Robot,2010,32(5):608-613
10 Stoy K,Brandt D.Efficient enumeration of modular robot configurations and shapes[C]//Intelligent Robots and Systems(IROS),2013 IEEE/RSJ International Conference on.New York:IEEE,2013:4296-4301
2陈海英,郭巧.进化机器人[J].机器人,2003,25(1):92-96Chen Haiying,Guo Qiao,Evolution robots[J].Robot,2003,25(1):92-96
3于建均,孙永芳,阮晓钢,等.基于信息融合的机器人路径智能决策的研究[J].控制工程,2014,21(6):990-994Yu Jianjun,Sun Yongfang,Ruan Xiaogang.et al.Research of robot's intelligent path planning decision based on information fusion[J].Scientific Journal of Control Engineering,2014,21(6):990-994
4 Gilpin K,Kotay K,Rus D,et al.Miche:modular shape formation by self-disassembly[J].The International Journal of Robotics Research,2008,27(3-4):345-372
5周雪峰,江励,朱海飞,等.一个模块化机器人平台的设计[J].华南理工大学学报(自然科学版),2011,39(4):50-55,61Zhou Xuefeng,Jiang Li,Zhu Haifei,et al.Design of a modular robotic platform[J].Journal of South China University of Technology(Social Science Edition),2011,39(4):50-55,61
6 Freese M,Singh S,Ozaki F,et al.Virtual robot experimentation platform v-rep:A versatile 3d robot simulator[C]//International Conference on Simulation,Modeling,and Programming for Autonomous Robots.Berlin:Springer Berlin Heidelberg,2010:51-62
7 Faí珘na A,Bellas F,López-Pe珘na F,et al.EDHMoR:Evolutionary designer of heterogeneous modular robots[J].Engineering Applications of Artificial Intelligence,2013,26(10):2408-2423
8刘明尧,谈大龙,李斌.可重构模块化机器人的现状和发展[J].机器人,2001(3):275-279Liu Mingyao,Tan Dalong,Li Bin.Status and development of reconfigurable modular robots[J].Robot,2001(3):275-279
9赵杰,唐术锋,朱延河,等.基于万向式关节的模块化自重构机器人[J].机器人,2010,32(5):608-613Zhao Jie,Tang Shufeng,Zhu Yanhe,et al.A modular self-reconfigurable robot based on universal joint[J].Robot,2010,32(5):608-613
10 Stoy K,Brandt D.Efficient enumeration of modular robot configurations and shapes[C]//Intelligent Robots and Systems(IROS),2013 IEEE/RSJ International Conference on.New York:IEEE,2013:4296-4301