用物理孪生体操控软体机械臂，实现全身配置的直接映射。
Control the Soft Robot Arm with its Physical Twin
- 通过可反向驱动的物理孪生体，实时感知并映射肌腱长度
- 实现软臂在狭窄空间中挤压穿行等复杂环境交互
- 支持不同尺度机器人泛化，且可通过调刚度简化操作
为发挥软体机械臂的柔顺特性，需设计能充分利用其物理能力的控制器。遥操作通过引入人类干预，是实现更复杂控制策略的关键步骤。尽管遥操作在刚性机器人中广泛应用，针对软体机器人则需考虑全身构型的遥操作方法。本文提出使用与目标机器人完全相同的‘物理孪生体’作为示范器，该肌腱驱动机器人可被反向驱动，通过肌腱长度实现构型感知，并直接映射至执行端。实验表明，该方法能实现对机器人全身配置的遥操作，完成如挤入狭小间隙等复杂环境交互。同时验证了该方法可推广至比物理孪生体更大的机器人系统，且通过调节物理孪生体的刚度特性可提升其通用性与易用性。
原文摘要 · Abstract (English)
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies. Whilst teleoperation is widely used for rigid robots, for soft robots we require teleoperation methods where the configuration of the whole body is considered. We propose a method of using an identical 'physical twin', or demonstrator of the robot. This tendon robot can be back-driven, with the tendon lengths providing configuration perception, and enabling a direct mapping of tendon lengths for the execture. We demonstrate how this teleoperation across the entire configuration of the robot enables complex interactions with exploit the envrionment, such as squeezing into gaps. We also show how this method can generalize to robots which are a larger scale that the physical twin, and how, tuneability of the stiffness properties of the physical twin simplify its use.
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