推進器を統合した二足歩行ロボットの推力・トルク特性のシステム同定
System Identification of Thrust and Torque Characteristics for a Bipedal Robot with Integrated Propulsion
推進器付き二足歩行ロボットHarpyのハードウェア特性を同定し、推力予測シミュレーションやモータトルク特性評価を通じて制御性と堅牢性を向上させる手法を検討した。
著者: Thomas Cahill
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face challenges related to terrain variation, obstacle negotiation, payload management, weight distribution, and recovering from stumbles. These challenges can be mitigated by incorporating thrusters, which enhance stability on uneven terrain, facilitate obstacle avoidance, and improve recovery after stumbling. Harpy is a bipedal robot equipped with six joints and two thrusters, serving as a hardware platform for implementing and testing advanced control algorithms. This thesis focuses on characterizing Harpy's hardware to improve the system's overall robustness, controllability, and predictability. It also examines simulation results for predicting thrust in propeller-based mechanisms, the integration of thrusters into the Harpy platform and associated testing, as well as an exploration of motor torque characterization methods and their application to hardware in relation to closed-loop force-based impedance control.