基于模型的释放状态设计:机器人回旋镖投掷
Robotic Boomerang Throwing via Model-Based Release Design
Yang Liu · Colin Jones · Aude Billard
中文摘要
利用空气动力学升力投掷物体,可将机器人投掷能力大幅扩展至超 ballistic 飞行范围。回旋镖需要精确的返航,是一类极具挑战性的例子:其飞行轨迹强烈依赖释放速度、姿态与旋转,而机器人机械臂难以复现人类投掷所需的快速动作。本文提出一种以释放状态为核心的、基于模型的机器人回旋镖投掷框架。通过分阶段辨识回旋镖飞行动力学,预测各设计变量对飞行的影响。在不确定接触条件下,依据候选参数对释放旋转控制的强度与一致性进行筛选,系统地设计机械臂投掷动作。基于上述模型,为一款 6-DoF(六自由度)、关节速度受限的机械臂联合设计投掷动作与回旋镖本身。据我们所知,这是首个实现回旋镖返航飞行的机器人机械臂。实际返航试验中,回旋镖以 51 rad/s(8.1 rev/s)释放,飞出距机械臂基座 2.03 m,返航落点距基座 0.31 m。成功释放条件与实测的人类投掷存在显著差异,表明机器人无需模仿人类投掷动作即可实现回旋镖返航。项目页见 https://robot-boomerang.github.io
关键要点
- 01问题:回旋镖飞行对释放速度、姿态与旋转极敏感,而机器人难以复现人类投掷的快速动作,此前尚无机械臂实现回旋镖返航
- 02方法:建立分阶段飞行动力学模型,依据参数对释放旋转控制强度与一致性进行筛选,系统设计 6-DoF 机械臂的投掷动作并联合设计回旋镖本体
- 03结果:回旋镖以 51 rad/s(8.1 rev/s)释放,最远飞至 2.03 m 并返回距基座 0.31 m 处落点,是首个实现返航的机器人系统
- 04结论:成功释放条件与人类投掷差异显著,说明机器人无需模仿人类投掷动作即可实现回旋镖返航
- 05局限:实验仅展示一例返航轨迹,投掷对象为特定设计的回旋镖,且基于关节速度受限的 6-DoF 机械臂,普适性待进一步验证
解读
尚无解读。
原始英文摘要
arXiv:2610.10472v1 Announce Type: new Abstract: Throwing objects that generate aerodynamic lift can greatly extend robot throwing beyond ballistic flight. A returning boomerang is a challenging example because its flight depends strongly on the release velocity, attitude, and spin, while robotic manipulators cannot readily reproduce the rapid motions used in human throwing. We present a model-based framework for robotic boomerang throwing centered on the release state. We identify the boomerang flight dynamics in stages to predict how flight changes across design variations. To systematically design the robot throwing motion, we screen candidate parameters according to how strongly and consistently they control release spin under uncertain contact conditions. These models are then used to design the throwing motion and boomerang for a 6-DoF manipulator with limited joint speeds. To our knowledge, this is the first robotic manipulator to generate a returning boomerang flight. In the demonstrated returning trial, the boomerang is released at 51 rad/s (8.1 rev/s), reaches 2.03 m from the robot base, and returns to touch down 0.31 m from the base. The successful release differs significantly from the measured human throws, showing that a robot need not imitate human throwing motion to achieve a returning flight. The project page is available at https://robot-boomerang.github.io