Mechanical Leg Design of the Anthropomorphic Robot Antares

Pavluk, Nikita; Ivin, Arseniy; Budkov, Victor; Kodyakov, Andrey; Ronzhin, Andrey

doi:10.1007/978-3-319-43955-6_15

Cited by 9 publications

(8 citation statements)

References 15 publications

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“…Already the first prototypes appear, physically interacting with surrounding objects, which requires the consumption of even greater energy resources. The joint work of robotic ground platforms and multi-copters allows significantly increase the duration of work in the autonomous mission [15][16][17][18].…”

Section: Resultsmentioning

confidence: 99%

Classification of robotic battery service systems for unmanned aerial vehicles

2018

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Abstract.Existing examples of prototypes of ground-based robotic platforms used as a landing site for unmanned aerial vehicles are considered. In some cases, they are equipped with a maintenance mechanism for the power supply module. The main requirements for robotic multi-copter battery maintenance systems depending on operating conditions, required processing speed, operator experience and other parameters are analyzed. The key issues remain questions of the autonomous landing of the unmanned aerial vehicles on the platform and approach to servicing battery. The existing prototypes of service robotic platforms are differed in the complexity of internal mechanisms, speed of service, algorithms of joint work of the platform and unmanned aerial vehicles during the landing and maintenance of the battery. The classification of robotic systems for servicing the power supply of multi-copter batteries criteria is presented using the following: the type of basing, the method of navigation during landing, the shape of the landing pad, the method of restoring the power supply module. The proposed algorithmic model of the operation of battery power maintenance system of the multi-copter on ground-based robotic platform during solving the target agrarian problem is described. Wireless methods of battery recovery are most promising, so further development and prototyping of a wireless charging station for multi-copter batteries will be developed.

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Section: Resultsmentioning

confidence: 99%

Classification of robotic battery service systems for unmanned aerial vehicles

2018

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“…To analyze the robot's dynamics, its model is considered in the form of a two-link reverse pendulum, where the upper link represents the body, head and hands, and the lower link -legs [9,14]. In numerical calculations, the following parameters of the anthropomorphic robot were used: weight -70 kg, height -170 cm.…”

Section: The Methods Of Natural Synergiesmentioning

confidence: 99%

“…The two-motor knee greatly complicates the kinematic scheme, so it is necessary to carefully select the solutions ensuring the stability of the position of this robot [9].…”

Section: Introductionmentioning

confidence: 99%

Analysis of balance control methods based on inverted pendulum for legged robots

Denisov

Iakovlev

Mamaev³

et al. 2017

MATEC Web Conf.

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Abstract. Methods of balance control for a legged robot, the model of which is presented as a two-section inverted pendulum, are considered. The following balance methods for humanoid robots are analysed: the parallel algorithm of the network operator method; the method of natural synergies; the method of fuzzy control, the spherical inverted pendulum mode, a dual length linear inverted pendulum method. The best of these methods will be used in the development of the Russian anthropomorphic robot Antares.

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“…Further increase in productivity and introduction of agro robots is associated with the development of local navigation technologies, precise positioning of manipulators, vision technology, onboard calculators and multisensor sensors, decision support systems based on multi-criteria evaluation, strategies for group management of heterogeneous robots in solving agricultural problems [16][17][18][19][20].…”

Section: Analysis Of Existing Agricultural Robotsmentioning

confidence: 99%

Analysis of main tasks of precision farming solved with the use of robotic means

Nguyen

Solеnaya

et al. 2017

MATEC Web Conf.

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Abstract. The main classes of problems of exact farming, solved with the involvement of robotics, are discussed. The use of precision navigation systems for robotic agricultural machines allows us to determine the actual soil parameters, calculate the cartograms for fertilizer application, taking into account the spatial variability of the agricultural contour. A promising method is the use of unmanned aerial vehicles for surveying and selecting intra field agricultural contours from a small height. To reduce the variability of soil characteristics in the fields, various robotic means of processing and preparation are used, including for leveling the soil. Given the regularity of planting crops on the fields, automatic systems of parallel driving of agricultural machinery are gaining popularity. Based on the analysis of modern robotic agro systems, promising areas for further research are formulated.

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Mechanical Leg Design of the Anthropomorphic Robot Antares

Cited by 9 publications

References 15 publications

Classification of robotic battery service systems for unmanned aerial vehicles

Classification of robotic battery service systems for unmanned aerial vehicles

Analysis of balance control methods based on inverted pendulum for legged robots

Analysis of main tasks of precision farming solved with the use of robotic means

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