论文标题
人形机器人臂共同设计的系统设计方法
A systems design approach for the co-design of a humanoid robot arm
论文作者
论文摘要
从经典上讲，人形机器人的发展是顺序且迭代的。这种自下而上的设计程序在很大程度上取决于直觉，并且经常受到设计师的经验偏见。利用机器人的非线性耦合设计空间是非平凡的，需要系统的探索程序。我们采用自上而下的设计策略，即V-Model，用于汽车和航空航天行业。我们的共同设计方法从设计空间内识别非直觉设计，并获得设计变量作为解决方案空间的最大允许范围，从而物理上实现了所获得的设计。我们表明，通过构建解决方案空间，可以（1）将高级要求分解到子系统级别的要求上，以耐受性减轻了设计过程中的“鸡或蛋”的问题，（2）将机器人的形态与其控制器脱离，从而使更大的设计灵活性，（3）使独立的子系统级别的开发变得更高，从而取得了开发的开发，从而取得了发展的过程。
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space of robots is non-trivial and requires a systematic procedure for exploration. We adopt the top-down design strategy, the V-model, used in automotive and aerospace industries. Our co-design approach identifies non-intuitive designs from within the design space and obtains the maximum permissible range of the design variables as a solution space, to physically realise the obtained design. We show that by constructing the solution space, one can (1) decompose higher-level requirements onto sub-system-level requirements with tolerance, alleviating the "chicken-or-egg" problem during the design process, (2) decouple the robot's morphology from its controller, enabling greater design flexibility, (3) obtain independent sub-system level requirements, reducing the development time by parallelising the development process.
