Mazhinji ariko marobhoti masisitimu anokwevera kurudziro kubva kune zvakasikwa, kugadzira zvechisikigo maitiro ebhayoloji, zvimiro zvechisikigo kana maitiro emhuka kuzadzisa zvinangwa chaizvo. Izvi zvinodaro nekuti mhuka uye zvidyarwa zvakashongedzerwa nehunyanzvi izvo zvinovabatsira kuti vararame munzvimbo dzazvo, uye izvo zvinogona zvakare kuvandudza mashandiro emarobhoti kunze kwemarabhoritari marobhoti.
"Maoko emarobhoti akapfava chizvarwa chitsva chemarobhoti manipulators anotora kurudziro kubva kuhunyanzvi hwekuita hunyanzvi hunoratidzwa nezvisikwa zvisina 'boneless', senge octopus tentacles, hunde dzenzou, zvidyarwa, nezvimwewo," Enrico Donato, mumwe wevaongorori vakaita. kudzidza, akaudza Tech Xplore. "Kushandura misimboti iyi kuita zvigadziriso zveinjiniya kunokonzeresa masisitimu anoumbwa nezvinhu zvinochinjika zvisingaremi izvo zvinokwanisa kufambisa zvakapfava elastic deformation kuti ibudise kufamba kunoenderana uye kwakasimba. Nekuda kwehunhu hunodiwa uhu, masisitimu aya anoenderana nepamusoro uye anoratidza kusimba kwemuviri uye kushanda-kuchengetedzeka kwevanhu nemutengo wakaderera. "
Nepo maoko akapfava erobhoti achigona kuiswa kumatambudziko mazhinji epasirese, anogona kunyanya kubatsira pakuita otomatiki mabasa anosanganisira kusvika kunzvimbo dzinodiwa dzingave dzisingasvikike kumarobhoti akaomarara. Zvikwata zvakawanda zvekutsvagisa nguva pfupi yadarika zvave kuyedza kugadzira vatongi vanobvumira aya maoko anochinjika kuti aite nemazvo mabasa aya.
"Kazhinji, kushanda kwevatongi vakadaro kunoenderana nekugadzirisa maumbirwo anogona kugadzira mepu inoshanda pakati penzvimbo mbiri dzekushanda dzerobhoti, kureva, nzvimbo-basa uye actuator-nzvimbo," Donato akatsanangura. "Zvisinei, kushanda kwakanaka kweava vatongi kunowanzoenderana nekuona-mhinduro iyo inomisa kutendeseka kwavo mukati memurabhoritari nharaunda, ichidzikamisa kutumirwa kweaya masisitimu munzvimbo dzakasikwa uye dzine simba. Ichi chinyorwa ndechekuedza kwekutanga kukunda kudzikisirwa uku uye kuwedzera kusvika kwemasisitimu aya kunzvimbo dzisina kurongeka. "
"Kusiyana nemafungiro asiriwo ekuti zvinomera hazvifambi, zvinomera zvine simba uye zvine chinangwa zvinofamba kubva pane imwe nzvimbo kuenda kune imwe uchishandisa nzira dzekufamba dzinobva pakukura," akadaro Donato. “Mazano aya anoshanda zvekuti zvinomera zvinokwanisa kubata nharaunda dzinenge dzese pasirese, izvo zvisingagoneki mumhuka. Sezvineiwo, kusiyana nemhuka, nzira dzekufamba kwechirimwa hadzibvi mutsinga dzetsinga, asi dzinomuka nekuda kwemhando dzakaomarara dzemakomputa akasarudzika.
Nzira yekutonga inosimbisa kushanda kwemuongorori wevatsvakurudzi inoedza kudzokorora nzira dzakaoma kunzwisisa dzinotsigira kufamba kwezvirimwa. Chikwata ichi chakanyatso shandisa maitiro-based artificial intelligence maturusi, ayo ane decentralized computing agents akasanganiswa muzasi-kumusoro chimiro.
"Chinhu chitsva chemutongi wedu anofemerwa nebio chiri mukureruka kwaro, kwatinoshandisa mashandiro akakosha erobhoti rakapfava ruoko kuti riumbe maitiro anosvika," akadaro Donato. "Kunyanya, ruoko rwerobhoti rwakapfava runosanganisira kurongeka kwakapfava kwemamodule akapfava, imwe neimwe inogadziriswa kuburikidza nehutatu hwema radially akarongwa actuators. Zvinonyatsozivikanwa kuti kugadziridzwa kwakadaro, sisitimu inogona kugadzira nzira nhanhatu dzekukotama. "
Iwo macomputing agents ari pasi pekushanda kwemutongi wechikwata anoshandisa amplitude uye nguva yekumisikidza actuator kubereka marudzi maviri akasiyana ekufamba kwechirimwa, anozivikanwa se circumnutation uye phototropism. Circumnutations is oscillations inowanzoonekwa muzvirimwa, ukuwo phototropism iri mafambiro anotungamira anounza matavi echirimwa kana mashizha pedyo nechiedza.
Mutongi akagadzirwa naDonato nevamwe vake vanogona kushandura pakati pemaitiro maviri aya, vachiwana kutevedzana kwekutonga kwemarobhoti maoko anotenderera mumatanho maviri. Yekutanga yematanho aya idanho rekuongorora, apo maoko anoongorora zvakatenderedza, nepo yechipiri idanho rekusvika, kwaanofamba kuti asvike kwaanoda kana chinhu.
"Zvichida chinonyanya kukosha kutora-kubva kune iri basa nderokuti ino ndiyo nguva yekutanga marobhoti akapfava emaoko akagoneswa kusvika pakugona kunze kwenzvimbo yerabhoritari, nehurongwa hwekudzora hwakapusa," akadaro Donato. "Uyezve, controller inoshanda kune chero yakapfavarobhotiruoko rwakapa hurongwa hwakafanana hwekuita. Iri inhanho yekushandiswa kwekunzwa kwakadzika uye kugovera nzira dzekudzora mumarobhoti anoenderera uye akapfava. "
Parizvino, vaongorori vakaedza controller yavo munhevedzano yebvunzo, vachishandisa modular cable-inotyairwa, isingaremi uye yakapfava robhoti ruoko ine 9 madhigirii erusununguko (9-DoF). Migumisiro yavo yakanga ichivimbisa zvikuru, sezvo mutongi akabvumira ruoko kuti rwuongorore zvose zvakaripoteredza uye kusvika kune nzvimbo yakatarisa zvinobudirira kupfuura mamwe mazano ekutonga akataurwa kare.
Mune ramangwana, mutongi mutsva anogona kuiswa kune mamwe akapfava robhoti maoko uye akaedzwa mune ese ari maviri marabhoritari uye chaiwo-epasi marongero, kuti aenderere mberi nekuongorora kugona kwayo kubata nekushanduka kwemamiriro ekunze. Zvichakadaro, Donato nevamwe vake vanoronga kuvandudza hurongwa hwavo hwekutonga mberi, kuitira kuti igone kuburitsa mamwe marobhoti emaoko ekufamba uye maitiro.
"Parizvino tiri kutarisa kusimudzira kugona kwemutongi kuti agone kuita maitiro akaomarara akadai sekutevera chinangwa, ruoko-rwose twining, nezvimwewo, kuti masisitimu akadaro ashande munzvimbo dzechisikigo kwenguva yakareba," Donato akawedzera.
Nguva yekutumira: Jun-06-2023