公开(公告)号：US20140100768A1

公开(公告)日：2014-04-10

申请号：US13835086

申请日：2013-03-15

Applicant: U.S. ARMY RESEARCH LABORATORY ATTN: RDRL-LOC-I

Inventor： Chad C. Kessens ,  Daniel C. Smith

IPC: G05D3/00

CPC classification number: G05D3/00 ,  B25J9/1664 ,  G05B2219/40298 ,  G05B2219/40465 ,  G05D1/0891 ,  G05D2201/0209

Abstract: Embodiments of the present invention are directed to methods of autonomously self-righting a maneuverable robot. In one embodiment, an autonomous method for self-righting a maneuverable robot to affect recovery from an overturned state to its nominal upright configuration may include: defining a convex hull and center of mass of each link of the robot; determining the convex hull and overall robot center of mass for each joint configuration of the robot; analyzing each convex hull face to determine its stability or instability; grouping continuously stable orientations of the robot and joint configurations together defining nodes and transitions there between; assigning a cost to transitions between nodes; computing an overall cost for each potential set of transition costs resulting in achievement of the goal; and determining a sequence of one or more actions to self-right the robot such that the sequence of actions minimizes the overall cost of self-righting the robot.

Abstract translation: 本发明的实施例涉及自动地对可机动机器人进行自校正的方法。 在一个实施例中，用于自动调整可机动机器人以影响从翻转状态恢复到其标称直立构造的自主方法可以包括：定义机器人的每个链节的凸包和质心; 确定机器人的每个联合配置的凸包和整个机器人质量中心; 分析每个凸包面以确定其稳定性或不稳定性; 将机器人和联合配置的连续稳定取向分组在一起，定义其间的节点和转换; 为节点之间的转换分配成本; 计算每个潜在的过渡费用成本的总体成本，从而实现目标; 以及确定一个或多个动作的序列以使所述机器人自行右移，使得所述动作序列使得所述机器人的自行矫正的总体成本最小化。