Humanoid robot motion control drive technology breaks through "singularity" with each passing day
"Atlas" amazing backflip to "Fidor" humanoid robot will use a variety of tools, marking the robot technology has gone from walking, one-legged, jumping, up and down the stairs, avoid obstacles and other low-level mechanical repetitive actions , Backwards, shooting, self-navigation and other "tall" fine sports skills development. In particular, the United States "Sophia" humanoid robot was first granted citizenship by Saudi Arabia, accelerating the "legalization" process of humanoid robots.
The rapid development of humanoid robot technology, thanks to the rapid development of artificial intelligence technology, depends on smart bionic structure design and the ever-changing drive control technology.
Structural design is scientific and reasonable
The so-called humanoid robot refers to a bionic robot that mimics human legs walking. It has a certain level of intelligence and is a smarter and more intelligent complex robot system in a bionic robot. Reasonable bionic design is the basis of the humanoid robot's function.
Its structural design is based on the principle of bionics. It simplifies the extraction of the essence of the human structure and develops highly flexible humanoid robots composed of various joints, usually consisting of a drive mechanism, linkage mechanism, transmission mechanism, and deceleration mechanism. , sensors and motion controllers, etc., to imitate the human sports physiology structure.
The Atlas humanoid robot is composed of two arms, two legs, a trunk and a head that simulate the structure and size of the human body. Its height is 1.88 meters and its weight is 150 kilograms. The "HUBO" robot structure of Korea is unique in that it has active driving wheels on both knees and passive wheels on the feet to allow it to move quickly and stably on flat ground. The “CHIMP†robot of the Carnegie Melbourn University in the United States has a deformable structure that enables it to stand upright like a human being, to transform two lower limbs into two caterpillars, or to deform all four limbs into a caterpillar structure. It can also flexibly change the structure according to different tasks. For example, if a double track structure is used to move to the door, the door is opened with both arms, and then it is deformed into a two-legged standing structure.
Drive technology is changing
Drive technology is the source of power for humanoid robots. Humanoid robots generally use hydraulic, electric motors, shape memory alloys, and pneumatic artificial muscles. With good anti-jamming performance, humanoid robots have attracted much attention since their inception.
The original "Atlas" humanoid robot was based on the early development of the Boston Power Company's "Petman" humanoid robot. The body uses 28 hydraulically-actuated joints powered by a 480 volt three-phase power supply of 15 kW. , Equipped with an embedded hydraulic pump, using the body and leg sensors to maintain balance, can achieve the control of the closed-loop position and strength, with excellent ability to walk, single-legged, jumping, up and down the stairs, to avoid obstacles. The modified Atlas removed the power plug, updated about 75% of the system except for the lower legs and feet, equipped with a new hydraulic pump, adjusted its hip, knee and back drives and stood up after falling down. , And have wireless communication capabilities.
The power unit uses a 3.7-kilowatt lithium-ion battery that can sustainably power for one hour, which is the key to the robot's ultimate ability to get out of the lab. Japan's "HRP-2" humanoid robot employs a motor-driven technology and is equipped with a compact liquid-cooled motor and a high-output drive module that can prevent overheating under high-speed and high-torque conditions.
Control technology is maturing
Motion control and function control are the main contents of humanoid robot control. Among them, motion control involves gait planning, gait control, and high-precision fine-motion control. How to design the interaction mechanism between the legs of the walking robot, realize the self-adaptive adjustment of the body balance under complex terrain conditions, and generate a free and stable gait is one of the key issues that must be solved.
Under the “Mobility and Manipulative Capabilities Maximization†project, the U.S. Department of Defense’s Advanced Research Projects Agency has signed contracts with several research institutes to conduct robotic control technology research involving dynamic gait selection, body center of gravity adjustment, and dynamic stability based on the environment. Control and other aspects. The United States HRL Laboratory will also carry out leg-shaped movements, biological movement adjustments, and deepening cognitive research on biological movements. This will enable humanoid robots to obtain high-speed, dexterous movements whether they are on the flat surface of a flat plain or in a rugged mountainous area. ability.
The focus of robotic motion control in Atlas and Russia's “Fidor†focuses on the breakthrough of difficult fine movements. The Atlas humanoid robot is equipped with an embedded real-time control computer, a laser radar, a stereo sensor, a dedicated sensor, and a perception algorithm software, which can sense and calculate the control force in real time, not only enabling the body to maintain balance in motion control, but also A powerful target is to explore and identify the ability to navigate autonomously indoors and outdoors.
The Russian "Fidor" humanoid robot has flexible fingers, can use a variety of tools, and has a certain amount of independent learning ability. It can pick up instruments and operate in specified scenes, especially with accurate shooting ability, making it in the military There is tremendous potential in combat. The robot will become the only "passenger" for Russia's new spaceship "Federal" in its first flight in 2021 and will participate in the Russian moon exploration program in 2031.
With the continuous deepening of the research on artificial intelligence technology, a variety of highly intelligent, multi-functional, and fast-response humanoid robots will continue to “pass the worldâ€. At present, some military powers are actively researching and developing "robots" capable of thinking, analyzing, and judging their ability to distinguish themselves from each other. They can not only perform arduous service support work but also can directly perform combat tasks. By then, the formation of humanoid robots will be on the battlefield and will no longer be a scene of science fiction.
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