[斯坦福大学网络视频课程之机器人学].IntroductionToRobotics-Lecture05.pdfVIP

IntroductionToRobotics-Lecture05 Instructor (Oussama Khatib):Okay. Let’s get started. So today, we’re going to the zoo and this video segment, which comes from 93; this is from [inaudible] University. It’s quite interesting. Video Instructor (Oussama Khatib):The moving style of Gibbons, shown in this video, is called brachiation. The brachiation robot is a dynamically mobile robot modeled on the Gibbon. It moves from branch to branch swinging its body like them. The brachiation robot, which we have developed, has two arms and no body. The total length is one meter and the total weight is 4.8 kilograms. The arms and grippers are actuated with DC motors through harmonic drive gears. This is the movement without actuation. At first, the robot doesn’t know how to move at all. Now the robot is going to learn how to loco mote to the next bar. Motion planning of such a robot is a difficult problem because of its non- holonomy. A robot is able to generate desirable motions by itself using our new heuristic method. The algorithm is based on trial and error of animals and human beings to obtain better motions. After the motion learning process, the robot can loco mote from branch to branch, forward and backward. The posture of the robot is measured by gyroscopes built into the arms and the joint angles are measured by encoders. The robot is calibrating its gripper position and closes it when it approaches the target bar. This motion is so called the underhand motion. The robot can perform another motion called the overhand motion. This motion is naturally more difficult than the underhand motion because the robot has to stop the turning of the arm against the gravity force and the movement is liable to become unstable. However, our robot also succeeded in performing continuous overhand locomotion. It needs more torque than the underhand motion, but this is more efficient motion with respect to time and energy consumption. When the robot fails to catch