O roba´ humanoide MIT: um roba´ dina¢mico que pode realizar comportamentos acroba¡ticos
Pesquisadores do MIT e da Universidade de Massachusetts Amherst projetaram recentemente um novo roba´ humanoide apoiado por um planejador de movimento cinodina¢mico ciente de atuador e um controlador de pouso.
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D1EgZ4L7Fxo6e8xRr9UR6Q+I2/glK7i22+J/wA3BsD2JqXwRLdp93ND0dPAnVM/nBlao7YkQGo9oA9w3K8EA/v+Cx9Cp8R+qldBCajxdRK7NnpFc7RJUxpp2eCAVVSvojht44ZGRo0Rm3wAmIReLRU4uA3x+3ozumL4lKLXEUtn8j+DZ5AWHQx19H4JVKFTjcEGC5dQZib9vb6PmHmXzCLHdgYSs+qo19oAjBU1/BCiF7Lv59CxJznbKfhVoHP8wOi7OV0/g63+2ZY2OnHEcAA54jq1ks3X0hfcOmOzQwCz5lOmrpHZHHYxxUmn9al/naFDHkETHXUV+zPePDD8TRiQuCSks/zYM0WVxAoVBSQldI/wgcBUBwfSXIk2MIXdm+mJekjDNwnV/wBJgJJmZSgUPsmpFbYPVezzFYFBOtQIAvPBye5/k7MQpHmLqqthR9nUAq1AUH0xYkcC5nJwM0nsyPeH2xm2YZ1MAG1GZelxAV2TMRZKgRQXhw+8PAddl7wFoYtn1YM+8MRkwuzEuQwqsH6GHRjbTLZapYAQtTZGAMQOjxf1bBiTsQuND/QSkbjCOGF1g9QFthoi5E26DmDNRgPH1iwem36hGiFx+64lQ91TuvvDFhHa/wDu3//Z)
Renderização do roba´ humanoide. Crédito: Chignoli et al
Criar robôs que possam realizar movimentos acroba¡ticos, como saltos ou saltos girata³rios, pode ser altamente desafiador. Normalmente, de fato, esses robôs requerem designs de hardware sofisticados, planejadores de movimento e algoritmos de controle.
Pesquisadores do Instituto de Tecnologia de Massachusetts (MIT) e da Universidade de Massachusetts Amherst projetaram recentemente um novo roba´ humanoide apoiado por um planejador de movimento cinodina¢mico ciente de atuador e um controlador de pouso. Este projeto, apresentado em um artigo pré-publicado no arXiv, poderia permitir que o roba´ humanoide fizesse back flips e outros movimentos acroba¡ticos.
"Neste trabalho, tentamos criar um algoritmo de controle realista para fazer um roba´ humanoide real realizar um comportamento acroba¡tico, como pular para trás / para frente / para o lado, pular girando e pular sobre um obsta¡culo", Donghyun Kim, um dos pesquisadores que desenvolveu o software e o controlador do roba´, disse a TechXplore. "Para fazer isso, primeiro identificamos experimentalmente o desempenho do atuador e, em seguida, representamos as principais limitações em nosso planejador de movimento."
Para executar comportamentos altamente dina¢micos, os robôs normalmente precisam fazer uso eficiente dos atuadores. A maioria dos projetos de roba´ existentes, no entanto, não aborda totalmente os desafios e aspectos relacionados ao hardware, como a queda de tensão que pode ocorrer durante movimentos de alto torque / velocidade.
Kim e seu colega desenvolveram um novo manãtodo que pode lidar com as restrições associadas aos comportamentos altamente dina¢micos do roba´ durante o planejamento e controle do movimento. Combinado com o projeto de roba´ humanoide que eles propuseram, esse manãtodo poderia permitir movimentos mais dina¢micos, como acrobacias.
"A diferença mais nota¡vel entre o novo roba´ humanoide que desenvolvemos e outros robôs humanoides desenvolvidos no passado seriam os atuadores", disse Kim. "As tecnologias de atuadores foram drasticamente aprimoradas e demonstramos o excelente desempenho nos robôs quadraºpedes, MIT Cheetah 1, 2, 3 e robôs mini-chita. A mesma tecnologia de atuador, representada por um controle de torque altamente retrovisor, rápido e preciso , e formato compacto e robusto, seráusado no novo roba´ humanoide. "
Em contraste com outros robôs humanoides desenvolvidos no passado, o novo roba´ projetado por um dos pesquisadores da equipe, chamado Sangbae Kim, éextremamente dina¢mico e eficiente. Isso deve permitir que ele conclua tarefas mais exigentes e complexas.
"A execução de movimentos dina¢micos éum desafio para os robôs porque seu operador deve primeiro entender a correlação entre hardware e software", disse Donghyun Kim. "Neste trabalho, tentamos abordar os limites craticos de hardware no movimento dina¢mico em nosso algoritmo de controle com base na experiência e conhecimento acumulados em hardware de roba´."
Kim e seus colegas testaram seu projeto de roba´, planejador de movimento e controlador de pouso em simulações realistas. Suas descobertas são altamente promissoras, pois mostram que o roba´ humanoide do MIT deve ser capaz de realizar uma variedade de comportamentos acroba¡ticos, incluindo saltos para trás, para frente e para trás.
No futuro, o roba´ humanoide do MIT podera¡ provar ser altamente eficiente para completar uma ampla gama de missaµes complexas. Enquanto isso, os pesquisadores planejam testar seu projeto, planejador de movimento e algoritmo de controle em cenários do mundo real.
"Vamos agora testar o algoritmo de controle desenvolvido no roba´ real e continuar avaçando na capacidade dina¢mica dos robôs com pernas", disse Kim. "Tambanãm planejamos incorporar um sistema de percepção em nosso algoritmo de controle , para tornar os robôs mais capazes de responder a smudanças do ambiente externo."