PANDORA：开源、结构弹性的人形机器人
PANDORA: The Open-Source, Structurally Elastic Humanoid Robot
AI总结：
本文提出开源人形机器人 PANDORA，通过 3D 打印柔顺材料实现结构弹性设计，以降低制造与装配成本，并验证其在扰动下的鲁棒平衡与踏步能力。
摘要：
在这项工作中，我们介绍了新型开源人形机器人 PANDORA，其大部分结构元件采用 3D 打印的柔顺材料制造。与当代将弹性元件集成到执行器机构中的方法不同，PANDORA 被设计为在负载下具有柔顺性，换句话说，具有结构弹性。这种设计方法降低了制造成本和时间、设计复杂性以及装配时间，同时给状态估计、关节控制和全身控制带来了控制挑战。这项工作深入描述了机械和电气子系统，包括增材制造的优点和缺点、传感器的使用和布置以及设备之间的组网细节。此外，还讨论了结构弹性元件的设计及其从估计和控制角度对整体性能的影响。最后，展示了实验结果，证明该机器人在存在扰动的情况下完成了鲁棒的平衡目标，并实现了踏步行为。
英文摘要：
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elastic element into the actuator mechanisms, PANDORA is designed to be compliant under load, or in other words, structurally elastic. This design approach lowers manufacturing cost and time, design complexity, and assembly time while introducing controls challenges in state estimation, joint and whole-body control. This work features an in-depth description on the mechanical and electrical subsystems including details regarding additive manufacturing benefits and drawbacks, usage and placement of sensors, and networking between devices. In addition, the design of structural elastic components and their effects on overall performance from an estimation and control perspective are discussed. Finally, results are presented which demonstrate the robot completing a robust balancing objective in the presence of disturbances and stepping behaviors.
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。
