Surena-V humanoid机器人通过优化控制实现人机协作与环境适应。
Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture
- 采用基于优化的控制架构，动态调整重心和步态以增强稳定性。
- 实验证明可精准操控医疗针头穿刺软组织，力反馈响应更敏捷。
- 适合研究人机协作、智能机器人控制及医疗辅助机器人方向。
本文介绍了一款名为Surena-V的人形机器人，旨在提升人机协作能力。该机器人配备多种传感器，包括手部的气压触觉传感器，以实现对环境的精确交互。实验展示了其在软组织中精确控制医疗针头运动的能力。系统强调操作稳定性和协作性，采用多种基于优化的控制策略，如通过上身运动调节零力矩点（ZMP）并规划步态。特别地，机器人能直接检测并解析作用点处的外力，相较传统依赖整体平衡控制的方法，响应更加灵敏。通过人类协同移动横杆的实验，验证了该控制架构的有效性。本研究为类人机器人领域提供了面向人机协作与环境适应性的完整系统设计与控制框架。
原文摘要 · Abstract (English)
This paper presents Surena-V, a humanoid robot designed to enhance human-robot collaboration capabilities. The robot features a range of sensors, including barometric tactile sensors in its hands, to facilitate precise environmental interaction. This is demonstrated through an experiment showcasing the robot's ability to control a medical needle's movement through soft material. Surena-V's operational framework emphasizes stability and collaboration, employing various optimization-based control strategies such as Zero Moment Point (ZMP) modification through upper body movement and stepping. Notably, the robot's interaction with the environment is improved by detecting and interpreting external forces at their point of effect, allowing for more agile responses compared to methods that control overall balance based on external forces. The efficacy of this architecture is substantiated through an experiment illustrating the robot's collaboration with a human in moving a bar. This work contributes to the field of humanoid robotics by presenting a comprehensive system design and control architecture focused on human-robot collaboration and environmental adaptability.
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