AcoustoBots：用于声学电势多模交互的机器人群
AcoustoBots: A swarm of robots for acoustophoretic multimodal interactions
AI总结：
AcoustoBots通过可移动相位阵列和BeadDispenserBot实现声学电势多模交互，提升机器人群的灵活性和交互能力。
摘要：
声学电势已使新型交互能力成为可能，例如悬浮、体积分层显示、空中触觉反馈和定向声音生成，从而开辟了新的多模交互形式。然而，其传统的单一静态单元实现限制了动态范围和应用的多样性。本文介绍了AcoustoBots——一种将声学电势与可移动且可重新配置的换能器相位阵列相结合的新型方法，以提高应用的多样性。我们将在机器人群上安装相位阵列，以利用多个移动声学电势单元的优势。这提供了一个更灵活且交互的平台，使声学电势多模交互的机器人群成为可能。我们的新型AcoustoBots设计包括一个铰链驱动系统，用于控制安装的相位阵列的取向，以在机器人群的声学电势多模交互中实现高灵活性。此外，我们设计了一个BeadDispenserBot，可以将粒子输送到捕获位置，这自动化了声学悬浮交互。这些特性使AcoustoBots能够独立为共同目标工作，并在不同模态之间互换，从而实现新的增强（例如，一个触觉、音频和悬浮的机器人群）以及在扩展的交互区域中与用户的双向交互。我们详细描述了我们的设计考虑、挑战和方法论方法，以扩展分布式环境中的声学电势中心控制。这项工作展示了具有两个移动机器人的可扩展声学控制框架，为未来在更大机器人群中的部署奠定了基础。最后，我们表征了我们的AcoustoBots的性能，并探索了它们可以启用的潜在交互场景。
英文摘要：
Acoustophoresis has enabled novel interaction capabilities, such as levitation, volumetric displays, mid-air haptic feedback, and directional sound generation, to open new forms of multimodal interactions. However, its traditional implementation as a singular static unit limits its dynamic range and application versatility. This paper introduces AcoustoBots - a novel convergence of acoustophoresis with a movable and reconfigurable phased array of transducers for enhanced application versatility. We mount a phased array of transducers on a swarm of robots to harness the benefits of multiple mobile acoustophoretic units. This offers a more flexible and interactive platform that enables a swarm of acoustophoretic multimodal interactions. Our novel AcoustoBots design includes a hinge actuation system that controls the orientation of the mounted phased array of transducers to achieve high flexibility in a swarm of acoustophoretic multimodal interactions. In addition, we designed a BeadDispenserBot that can deliver particles to trapping locations, which automates the acoustic levitation interaction. These attributes allow AcoustoBots to independently work for a common cause and interchange between modalities, allowing for novel augmentations (e.g., a swarm of haptics, audio, and levitation) and bilateral interactions with users in an expanded interaction area. We detail our design considerations, challenges, and methodological approach to extend acoustophoretic central control in distributed settings. This work demonstrates a scalable acoustic control framework with two mobile robots, laying the groundwork for future deployment in larger robotic swarms. Finally, we characterize the performance of our AcoustoBots and explore the potential interactive scenarios they can enable.
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。
