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Docking and Undocking a Modular Underactuated Oscillating Swimming Robot
arXiv - CS - Robotics Pub Date : 2021-02-25 , DOI: arxiv-2102.12909
Gedaliah Knizhnik, Mark Yim

We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Because propulsion is achieved through oscillation, orientation can be controlled only in the average; this complicates docking, which requires precise position and orientation control. Given these challenges, we present a docking strategy and a motion primitive for controlling orientation, and show that this strategy allows successful docking in multiple configurations. Moreover, we demonstrate that the Modboat is also capable of undocking and changing its dock configuration, all without any additional actuation. This is unique among similar modular robotic systems.

中文翻译:

对接和拆下模块化欠驱动摆动游泳机器人

我们描述了一种对接机制和策略,以允许Modboat进行模块化自组装:一种由单个电机提供动力的廉价的欠驱动振荡游泳机器人。由于推进是通过振荡实现的,因此只能平均控制方向。这会使对接复杂化,而对接则需要精确的位置和方向控制。面对这些挑战,我们提出了一种对接策略和用于控制方向的运动原语,并表明该策略可以在多种配置中成功实现对接。此外,我们证明了Modboat还能够取消对接和更改其坞站配置,而无需任何额外的致动。这在类似的模块化机器人系统中是独一无二的。
更新日期:2021-02-26
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