Use wechat scan QR code < / P > < p > to share with friends and circle of friends < / P > < p > <-- Yang Jing from aofeisi & nbsp

qubit report official account No. QbitAI

what kind of picture is the robot < / a > dancing square dance < p > wrong, come again < p > when the robot Avatar "< a target ="_ blank" href=" https://news.163.com/news/search?keyword=%E8%BD%AE%E6%BB%91 "> roller skating < / a > kid", < a target = "_ blank" href=" https://news.163.com/news/search?keyword=%E5%89%8D%E7%A9%BA%E7%BF%BB "> forward somersault < / a >, jump is no problem ~ < / P > < p > it's said that you can jump twice your height at one time（ PS, the boy's minimum is 30cm) < / P > < p > in addition, he is completely familiar with the common terrain of roller skating, such as waves, uphill and downhill, and even crossing obstacles with one leg ~ < / P > < p > of course, the real strength of roller skating boy is the sense of balance < p > even in the face of a heavy blow, it did not panic at all, just faltered < p > well, it's really only one time < p > what is the origin of such a cool boy ~ < / P > < p > < strong style = "margin: 0px; padding: 0px; max-width: 100%; box-sizing: border-box ! important; word-wrap: break-word ! important; color: rgb(0, 153, 127);"> Ollie < / strong >, you can also call it Ollie < p > Ollie is a new member of Tencent robotics x lab, that is, brother Dei of Jamoca and Max However, unlike these two quadruped robots, it has only two legs, and it is not entirely two（ Hand dog head) < / P > < p > when it starts to deliver coffee, its third leg sticks out < p > "three leg" roller skater < / P > < p > to achieve "roller skating", Ollie needs to have both wheel structure and leg ability < p > the wheel structure is responsible for the speed and the leg to keep the balance < p > Ollie's single leg adopts a parallel mechanism, which can form a < strong style = "margin: 0px; padding: 0px; max-width: 100%; box-sizing: border-box ! important; word-wrap: break-word ! important; color: rgb(0, 153, 127);"> Five link < / strong > structure On the one hand, the tail of the third leg can act as the third leg, which can be raised when necessary < p > on the other hand, it can provide extra angular momentum for Ollie to complete the difficult movements < p > is just like < a target = "_ blank" href=" https://news.163.com/news/search?keyword=%E8%B7%B3%E8%BF%9C "> in the long jump < / a >, our hands are almost the same In addition to the hardware facilities, Ollie is also involved in the latest research progress of Tencent robotics x laboratory: nonlinear control technology, whole body dynamics control and trajectory planning < p > first, < strong style = "margin: 0px; padding: 0px; max-width: 100%; box-sizing: border-box ! important; word-wrap: break-word ! important; color: rgb(0, 153, 127);"> Nonlinear control technology < / strong > Under the condition of disturbance and obstacle, Ollie can keep its balance by tilting at a large angle, and the controller is not limited to the linearizable range of the model

Whole body dynamics control < / strong > < p > this technology is like "cerebellum" for Ollie. The optimization method is used to obtain each < a target = "_ blank" href=" https://news.163.com/news/search?keyword=%E5%85%B3%E8%8A%82 "> joint < / a > moment to adjust the whole body posture < p > in the face of sudden huge impact, such as somersault landing and collision, Ollie can "overcome rigidity with softness", successfully resist external interference and maintain balance < p > in addition to balance ability, Ollie also has < strong style = "margin: 0px; padding: 0px; max-width: 100%; box-sizing: border-box ! important; word-wrap: break-word ! important; color: rgb(0, 153, 127);"> Trajectory planning ability < / strong > < p > when completing these movements, Ollie needs to use his "brain" to "think about" the movement track in advance, that is, how to apply his own morphological and structural characteristics to maximize the performance of joint motor to achieve the target movement < p > with < strong style = "margin: 0px; padding: 0px; max-width: 100%; box-sizing: border-box ! important; word-wrap: break-word ! important; color: rgb(0, 153, 127);"> Take somersault < / strong > as an example < p > firstly, Ollie will decompose the whole process of somersault into three stages: take-off, flight and landing based on the whole body dynamics model Then the reference value sequence of joint motor position, speed and joint torque is obtained by optimization At present, oli is still in the research and development stage < p > in the future, based on the mobility characteristics of the wheel legged robot platform, the laboratory will expand the construction of the perception, load and other functional modules on the platform, so as to make the robot have more mature and rich capabilities