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受自然启发创造的仿蛇机器人

Carnegie Mellon's snake robot is inspired by nature

本实验室在机器蛇方面已经有历史性突破
This lab has historically worked on snake robots
并最近继续做模块化机器人和爬行机器人的研究
and more recently on modular robots and walking robots
你会观察动物 并尝试提取必备的要素
You look at animals, try to distill the essential principals
而不是复制我们看到的一切
not necessarily copying what we see
机器蛇确实不能完全如真蛇一般
A snake robot is never gonna be exactly like a real snake
但我们能做的是
but what we can do is
观察蛇是如何到处移动
look at how the snake moves around the world
并且试着复制一些基本的移动零件在 我们的机器蛇上
and try to copy some of the basic motion primitives onto our robots
并简化爬行机器蛇
and similarly for the walking robots.
我们后来确实遵循了这个原则
But we do then take those principles
并在我们的机器人上应用和改善
and apply them on our robots and refine them
使机器蛇进入限制的空间
to get the snakes to go into confined spaces
为许多探索和营救或视查应用
for many search and rescue or inspection applications
或让爬行机器人轻易走过艰难的地形
or to get the walking robots to walk over rough terrain.
机器蛇已经存在很长时间
Snake robots have existed for a long time.
嗯 或许在20世纪70年代出现了第一条机器蛇
Uh, maybe the 1970s was the first snake robot
但他们并不实用
but they really didn’t start to become practical
直到模块技术和动力管理的发展
until a little development motor technology and power management
开始允许我们组装机器
started to allow us to package the robot form factor
能在现实生活发展应用
that can actually be deployed in the real world.
所以我们的机器蛇是模块化的
So our snake robots are modular and that
这有一串完全相同重复的促动器
there’re a long chain of the same repeating actuator down the line.
并且这是允许我们去做的事
And so what that allows us to do is
如果有一个被破坏 你能很快替换一个不同的
if one breaks you can very quickly replace with a different one.
如果你想改变机器蛇的长度
And if you want to change the length of the snake
你可以从16个模块增至20至30
you can go from 16 modules to 20, to 30
这取决于你想让机器蛇有多长
depending on how long of the snake you need for your application.
并且一端有摄像头 并且在另一端
And one end has the camera, and on the other end
我们已经连接便携电源和通信装置
we have the tether that carries power and communications.
一但我们有这条听话的机器蛇
Once we have this compliance snake robot
将能穿过限制的地方
that’s able to feel its way through confined spaces
我们在程序中被要求设置一系列模块化接囗
we had in the process committed to a set of modular interfaces
在电力 机器和通信之间
both electrical and mechanical and communications
那使我们的蛇不再只能向前或向后延展
that allowed us to then not only extend the snake in different forwards and back directions
但事实可以增加拓扑结构去给它腿
but actually add different topologies to give it legs,
给它肢体 给它脚掌
give it arms give it claws
给它其他的模块 比如意志
give it other kinds of modules, wills,
并会出现发展到六条腿的机器人
and so that leds to the development of this six-leg robot that
用仿蛇的技术去穿过艰难地形
uses the same technology as the snake essentially to walk over rough terrain.
这些机器人特殊之处是
What’s special about these robots is
有四个方向的传感器在腿上
the proprioceptive four sensings in the legs
他们有强力的T形反馈转矩
They have this force ends torque T feedback and
那些腿让你觉得可以穿过艰难地形
and the legs that allows you feel your way through rough terrain
穿过碎石不会用太多感受器
walk over rubble without using a lot sensings.
我们用各种方法去快速设计接口
We did all the way to rapidly design gates
仅为机器人的移动
just walking motions for the robot.
所以当你改变胳膊和腿时
So that when you change the arms and legs
你能在几分钟内重配它
you are able to quickly deploy it again within minutes.
我们也能发展这个机器的电力系统
We also have developed the battery power version in this robot,
较旧的模块
the older modules were
限制了他们需要信息和电力的连接
restricted that they needed the tether for communications and power
但那主要是机器蛇的一个局限
but that was primarily a limitation for the snake robot.
在这些爬行机器人
On these walking robots
有更多空间放置电池
there’s more room on board put batteries
也能放电池包裹
so able to put battery pack
并能长时间行走或穿越艰难地形
and have a walk for an hour or so up rough terrain.
这是我们无线电的蛇怪物
This is our battery-powered wireless snake monster
并且它是一只六脚机器人
and it is a hexapod
你能改变终端的模块
that you can change the modules on the ends
你能给它不同的胳膊或腿或手或摄相机
you can give it different arms or legs or hands or cameras
现在我们有一个带6条腿和一个脖子处有摄像机的形体
Right now we have a configure with 6 legs and a neck camera
那能调节摄像去观察破坏的管道或倒塌的建筑
so that it can reorient the camera tolook at broken pipes in a collapse building.
并且持续的电力
And being battery powered
让我们用一个可操纵的推动控制就能
we can send it out into the world and go couple hundreds of yards
发送它到世界并穿过数百个庭院
with a controller driving from the joystick.
有一些现在仍在发展中
There are a few that are now under developments
另一些公司已经将技术商业化
other companies have commercialized technology.
所以有一些开始
So there are some have starting
去应用在现实的商业化产品中
to be used for real world applications commercially.

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视频概述

神奇的大自然,智慧的科学家,用途广泛的仿蛇机器人

听录译者

Chenaniah

翻译译者

人生如戏

审核员

审核团Z

视频来源

https://www.youtube.com/watch?v=ajhZiGYq3Pw

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