外文翻譯--可以行走、翻身并站立的有兩手和兩足的機(jī)器人（英文）

1、Two-Armed Bipedal Robot that can Walk, Roll Over and Stand up Masayuki INABA, Fumio KANEHIR.0 Satoshi KAGAMI, Hirochika INOUE Department of Mechano-Informatics The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113 Toky

2、o, JAPAN Abstract Focusing attention on flexibility and intelligent re- activity in the real world, it is more important to build, not a robot that won’t fall down, but a robot that can get up if it does full down. Th

3、is paper presents a research on a two-armed bipedal robot, an apelike robot, which can perform biped walking, rolling over and standing up. The robot consists of a head, two arm.s, and two legs. The control system of

4、 the biped robot is designed based on the remote-brained approach a nwhich a robot does not bring its own brain within the body and talks with at by radio links. This remote- brained approach enables a robot to have

5、both a heavy brain with powerfull computation and a lightweight body with multiple joints. The robot can keep bal- ance in standing using tracking vision, detect whether it falls down or not by a set of vertical sen

6、sors, and perform getting up motion colaborating two arms and two legs. The developed system and experimental re- sults are described with illustrated real examples. 1 Introduction As human children show, it is indisp

7、ensable to have capability of getting up motion in order to learn biped locomotion. In order to build a robot which tries to learn biped walking automatically, the body should be designed to have structures to suppor

8、t getting up as well as sensors to know whether it lays or not. When a biped robot has arms, it can perform var- ious behaviors as well as walking. Research on biped walking robots has presented with realization [l,

9、 2, 31. It has mainly focused on the dynamics in walking, treating it as an advanced problem in control[2, 4, 51. However, focusing attention on the intelligent reactiv- ity in the real world, it is more important t

10、o build, not a robot that won’t fall down, but a robot that can get up if it does fall down. In order to build a robot that can get up if it falls down, the robot needs sensing system to keep the body balance and to k

11、now whether it falls down or not. Al- though vision is one of the most important sensing functions of a robot, it is hard to build a robot with a powerful vision system on its own body because of the size and power l

12、imitation of a vision system. I fwe want to advance research on vision-based robot behaviors requiring dynamic reactions and intelligent reasoning based on experience, the robot body has to be lightweight enough to re

13、act quickly and have many DOFs in actuation to show a variety of intelligent be- haviors. As for the legged robot [6] [7] [SI, there is only a little research on vision-based behaviors[9]. The diffi- culties in advan

14、cing experimental research for vision- based legged robots are caused by the limitation of the vision hardware. It is hard to keep developing advanced vision software in limited hardware. In or- der to solve the prob

15、lems and advance the study of vision-based behaviors, we have adopted a new ap- proach through building remote-brained robots. The body and the brain are connected by wireless links by using wireless cameras and remo

16、te-controlled actua- tors. As a robot body does not need computers on- board, it becomes easier to build a lightweight body with many DOFs in actuation. In this research, we developed a two-armed bipedal robot using

17、the remote-brained robot environment and made it to perform balancing based on vision and getting up through cooperating arms and legs. The system and experimental results are described below. 297 0-8186-7108-4/95 $4

18、.00 0 1995 IEEE performance of the interface between brain and body is the key. Our current implementation adopts a fully remotely brained approach, which means the body has no computer onboard. Current system consis

19、ts of the vision subsystems, the non-vision sensor subsystem and the motion control subsystem. A block can re- ceive video signals from cameras on robot bodies. The vision subsystems are parallel sets each consisting

20、 of eight vision boards. A body just has a receiver for motion instruction signals and a transmitter for sensor signals. The sen- sor information is transmitted from a video transmit- ter. It is possible to transmit

21、 other sensor informa- tion such as touch and servo error through the video transmitter by integrating the signals into a video image[ll]. The actuator is a geared module which includes an analog servo circuit and re

22、ceives a posi- tion reference value from the motion receiver. The motion control subsystem can handle up to 104 actu- ators through 13 wave bands and send the reference values to all the actuators every 20msec. 0 1

23、1 0 3 The Two-Armed Bipedal Robot --t c t Figure 2 shows the structure of the two-armed bipedal robot. The main electric components of the robot are joint servo actuators, control signal re- ceivers, an orientation s

24、ensor with transmitter, a bat- tery set for actuators and sensors sensor and a cam- era with video transmitter. There is no computer on- board. A servo actuator includes a geared motor and analog servo circuit in the

25、 box. The control signal to each servo module is position reference. The torque of servo modules available cover 2Kgcm - l4Kgcm with the speed about 0.2sec/GOdeg. The control sig- nal transmitted on radio link encode

26、s eight reference values. The robot in figure 2 has two receiver modules onboard to control 16 actuators. Figure 3 explains the orientation sensor using a set of vertical switches. The vertical switch is a mercury s

27、witch. When the mercury switch (a) is tilted, the drop of mercury closes the contact between the two electrodes. The orientation sensor mount two mercury switches such as shown in (b). The switches provides two bits

28、signal to detect four orientation of the sensor as shown in (c). The robot has this sensor at its chest and it can distinguish four orientation; face up, face down, standing and upside down. The body structure is des

29、igned and simulated in the mother environment. The kinematic model of the body is described in an object-oriented lisp, Euslisp which has enabled us to describe the geometric solid O 01 c Figure 3: Switches Orienta

30、tion Sensor Using two Mercury model and window interface for behavior design. Fig- ure 4 shows some of the classes in the programming en- vironent for remote-brained robot written in Euslisp. The hierachy in the class

31、es provides us with rich facil- ities for extending development of various robots. LRobot-“frame Apelike-frame - Apelike - Servo-module joint-association TRobot-link Ape-head t Ape-leg L Ape-arm Visual Window

32、 Rot-mep-window Exp-mep-window Hough-window 7 Optical-flow-window - Net-Wm Programming Window Motion-Editor Transputer-window Eye-window Robot-window -Ape-window Command-window Figure 4: Class Hierarchy 4 Vision-B

33、ased Balancing The robot can stand up on two legs. As it can change the gravity center of its body by controling the ankle angles, it can perform static bipedal walks. During static walking the robot has to control it

34、s body balance if the ground is not flat and stable. In order to perform vision-based balancing it is re- quired to have high speed vision system to keep ob- serving moving schene. We have developed a tracking visio