AthenaZero：一种用于动态操作的低惯性双臂机器人
AthenaZero: A low-inertia, bimanual robot for dynamic manipulation
- RAI Institute（RAI研究所）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
AthenaZero通过准直驱和传动远程化实现低惯性双臂设计，在投掷、接球和击球任务中展现高速动态操作能力，验证了其在高加速度场景下的有效性与适应性。
AI中文摘要：
AthenaZero是一种双臂操作器，旨在在不牺牲控制能力的前提下最小化惯性。通过采用准直驱驱动和传动远程化技术，该系统实现了与人类相当的有效末端质量——比传统机器人操作器低约一个数量级。这一特性，加上其固有的力矩透明性，使AthenaZero特别适合动态操作。我们描述了导致这一设计的方法论，并在三个受棒球启发的任务中展示了机器人的能力：投掷、接球和击球，这些任务展示了在毫秒至关重要的、与人类可比的时间尺度上的复杂交互。AthenaZero能够以超过30 m/s的速度投掷，并在7.3米的短距离内以超过14 m/s的速度进行接球和击球。随后，在机器人与机器人以及人类与机器人的变体中进行了击球练习和接球游戏，展示了我们的系统在高加速度任务中的有效性和适应性。
英文摘要：
AthenaZero is a bimanual manipulator designed to minimize inertia without compromising control authority. By utilizing quasi-direct drive actuation and transmission remotization techniques, the system achieves an effective endpoint mass comparable to that of a human---about an order of magnitude less than conventional robot manipulators. This characteristic, combined with its inherent torque transparency, makes AthenaZero exceptionally well-suited for dynamic manipulation. We describe the methodology} that led to this design and demonstrate the robot's capabilities on three baseball-inspired tasks: throwing, catching, and batting, which showcase complex interactions on human-comparable timescales where milliseconds matter. AthenaZero was capable of throwing at speeds in excess of 30 m/s, with catching and batting at speeds in excess of 14 m/s over a short 7.3 m distance. Batting practice and a game of catch were subsequently performed in robot-to-robot and human-to-robot variations, showcasing the efficacy and adaptability of our system in tasks that require high acceleration.
