论文标题
具有配备Dactylus的四倍机器人的新型设计和评估用于移动操作
A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation
论文作者
论文摘要
四倍的机器人通常配备额外的手臂进行操作，对价格和重量产生负面影响。另一方面，腿部运动的要求意味着这种机器人的腿通常具有执行操作所需的扭矩和精确性。在本文中，我们介绍了一种新颖的设计，该设计针对一个由甲壳类动物启发的两个腿部安装机器，配备了两种腿部安装机器，该机器人受到甲壳类动物的启发和指关节wall虫的前肢。通过使用腿部已经存在的执行器，我们只能使用每个肢体额外的3个电动机来实现操纵。该设计使相对于腿部电动机使用小而便宜的执行器，从而进一步降低了成本和重量。借助集成的电缆/滑轮系统，惯性的瞬间对腿的影响很小。正如我们在一组电视实验中所示，机器人能够执行单个和双LIMB操纵，并在操纵模式之间过渡。所提出的设计与额外的手臂相似，同时称重和成本降低了每个操纵器的5倍，并可以完成需要2个操纵器的任务。
Quadruped robots are usually equipped with additional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean that the legs of such robots often possess the needed torque and precision to perform manipulation. In this paper, we present a novel design for a small-scale quadruped robot equipped with two leg-mounted manipulators inspired by crustacean chelipeds and knuckle-walker forelimbs. By making use of the actuators already present in the legs, we can achieve manipulation using only 3 additional motors per limb. The design enables the use of small and inexpensive actuators relative to the leg motors, further reducing cost and weight. The moment of inertia impact on the leg is small thanks to an integrated cable/pulley system. As we show in a suite of tele-operation experiments, the robot is capable of performing single- and dual-limb manipulation, as well as transitioning between manipulation modes. The proposed design performs similarly to an additional arm while weighing and costing 5 times less per manipulator and enabling the completion of tasks requiring 2 manipulators.
