静电制动器实现欠驱动高关节自由度机器人的单关节独立控制
Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots
AI总结：
本文提出一种可堆叠静电制动器，将其集成到机器人关节中，在保持相似扭矩的同时实现重量减轻四倍、功率效率提高一千倍，使单电机十自由度机器人可同时操纵多物体，并显著提升双指机器人手中重定位的速度与精度。
摘要：
高度关节化的生物体为极其灵巧的机构提供了蓝本，但构建具有类似能力的机器人对应物一直受到开发兼具生物肌肉高强度与紧凑性的机电执行器困难的阻碍。我们开发了一种可堆叠的静电制动器，其比张力和重量与肌肉相当，并将其集成到机器人关节中。与机电电机相比，我们配备制动器的关节在施加相似保持扭矩的同时，重量减轻了四倍，功率效率提高了一千倍。我们的关节设计使一个仅配备一台电机的十自由度机器人能够同时操纵多个物体。我们还表明，使用制动器使双指机器人能够对手中的物体进行重新定位，与不使用制动器相比，速度提高了45%，定位误差降低了53%。相对于全驱动机器人，我们的研究结果表明，配备此类静电制动器的机器人将具有更低的重量、体积和功耗，同时仍保持到达任意关节构型的能力。
英文摘要：
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high strength and compactness of biological muscle. We develop a stackable electrostatic brake that has comparable specific tension and weight to that of muscles and integrate it into a robotic joint. Compared to electromechanical motors, our brake-equipped joint is four times lighter and one thousand times more power efficient while exerting similar holding torques. Our joint design enables a ten degree-of-freedom robot equipped with only one motor to manipulate multiple objects simultaneously. We also show that the use of brakes allows a two-fingered robot to perform in-hand re-positioning of an object 45% more quickly and with 53% lower positioning error than without brakes. Relative to fully actuated robots, our findings suggest that robots equipped with such electrostatic brakes will have lower weight, volume, and power consumption yet retain the ability to reach arbitrary joint configurations.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
