Foot motion and wheeled motion are two main directions of robot mobility research. As the name implies, biped robots are flexible, can run and jump, and wheeled robots are more suitable for flat roads and can move stably and quickly like cars. Wheellegged robots with both advantages may have more application scenarios.
In terms of sliding and jumping ability, this robot "adaptively applies nonlinear control method", which can achieve 360 free turn, S-line extreme sliding and other difficult movements, jump on 40 cm steps, and vertical take-off can reach 60 cm.
At the same time, the robot's whole body dynamics is adopted to effectively control the robot's whole body posture, improve its ability to resist external interference, stabilize against toppling in the face of experimental impact, and realize smooth uphill and downhill.
In computing power, Ollie can plan the motion trajectory in advance, so as to get the reference value sequence of joint motor position, speed and joint torque of the whole action, thus realizing the forward somersault action.
Robots are the epitome of intelligent technology.
Tencent official said that robots are a master of intelligent technology, involving dynamics, cybernetics, mechanical design and many other technologies. Just making the robot jump around is a very complicated process. Ollie is the best robot, with mechanical design, perception, motion planning and control, and the integrated design of these three modules, which is equivalent to the coordination ability of human torso, eyes, brain and organs.
According to the shape and characteristics of the wheel-legged robot, the R&D team in the laboratory applies the nonlinear control method adaptively, and the controller is no longer limited to the linearization range of the model, so that the robot Ollie has good balance ability and robustness even when it tilts at a large angle (robust transliteration refers to the survivability of the system in abnormal and dangerous situations).
In the two-wheel mode, the robot has only two contact points with the ground, which requires higher balance ability. When Ollie changes her height on uneven ground, and even jumps over obstacles with one leg, she can keep perfect balance.
The whole body dynamics control image is equipped with a developed "cerebellum" for Ollie. It uses an optimized method to obtain the torque of each joint and realize the whole body posture adjustment, which not only enables it to achieve more challenging movements, but also enables Ollie to "soften his heart" in the face of sudden huge impacts such as somersaults and collisions, and smoothly resist external interference and maintain balance.
In addition to balance ability, Ollie also has trajectory planning ability. When completing these movements, Ollie should use his "brain" to "think" the motion trajectory in advance, that is, how to make full use of his own morphological and structural characteristics to maximize the performance of the joint motor and achieve the target motion.
Ollie is still in the research and development stage. Robotics X Lab tells the heart of the machine that in the future, based on the mobile characteristics of the wheel-legged robot platform, the construction of various functional modules such as perception and load will be expanded on the platform, so that the robot will have more mature and rich capabilities.
For example, the team tried to explore Ollie's load capacity. Two wheels and three wheels can be switched at will, plus a mechanical arm, so that it can successfully pick up a cup of coffee and hand it to distant guests through wheeled movement.
Tencent said that in the future, Tencent Robot X Lab will also do all-round and multi-field exploration in the robot industry, and continue to move forward to the future where human-machine coexistence, * * * creation and * * * victory.
Related research papers were included in the ICRA conference.
This robot-related research paper has been included in this year's ICRA conference (IEEE International Conference on Robotics and Automation, one of the most influential international academic conferences in the field of robotics), entitled "Balance Control of Novell Wheellegged Robot: Design and Experiment".
At the 202 1 held in an recently, dr. zhang, director of Tencent AI Lab and Robotics X Lab, was also invited to give a report, introducing the layout and progress of Robotics X Lab in the field of robot mobile research, and sharing the technical details of Ollie.
The technology comes from Tencent Robot X Lab.
Tencent Robot X Lab was established in 2065 438+05 03 18, and its current director is Zhang, a famous computer vision and multimedia technology expert. The laboratory focuses on the three core general technologies of robots: mobility, dexterous operation and agent, which are also called Tencent AI three core strategies together with general artificial intelligence and AI+ medical care.
In recent years, Tencent Robot X Lab has successively demonstrated self-balancing bicycles, robot dogs Jamoca and Max, while Ollie has accumulated the lab's mobile control technology and made key breakthroughs in motion planning, balance and stability.
Among them, mobility is considered as one of the most core and basic abilities of robots. The framework of laboratory mobile technology includes four modules: mechanical design, perception, motion planning and control, and the design and construction of the whole machine system, which can be understood as the coordination ability of the robot's trunk, eyes, brain and various organs.
Will robots replace humans?
Today, the importance of robots need not be said. Many dangerous jobs are gradually being done by robots. Tencent, State Grid and other domestic companies have a number of research patents in the field of industrial robots, and have achieved good research results. The robots they developed have also begun to be applied in many positions.
There is no doubt that robots will be the main repetitive work with low technical difficulty in the future, and high-risk work will also be completed by robots. When discussing robots, it is inevitable to consider what workers should do if these jobs are given to robots.
In fact, when a job is replaced by a machine, other jobs will naturally be born. This society needs not only producers but also consumers. In terms of current productivity, if a large number of workers are replaced by machines, the consumption level will be infinitely reduced. Who will the produced goods be sold to?
As for the future, relying on the productivity of robots will be enough to meet the needs of the whole society. Then, except scientists and engineers, the public will no longer need to work and spend time pursuing the true meaning of life. By then, this society will no longer distinguish between capitalists and proletarians, and realize the dream of China people's great world.
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