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Trivedi V, Prakash S, Ramteke M (2017) Optimized on-line control of MMA polymerization using fast multi-objective DE. Mater Manuf Process 32(10):1144–1151
Robo Kombat Balloon Puncher - ALDI UK
Bray, F. et al. Global cancer statistics 2018: Globocan estimates of incidence and mortality worldwide for 36 cancers in 185 countries. CA: a cancer journal for clinicians 68, 394–424, https://doi.org/10.3322/caac.21492 (2018). Saad A, Khan SA, Mahmood A (2018) A multi-objective evolutionary artificial bee colony algorithm for optimizing network topology design. Swarm Evolut Comput 38:187–201 Ghassemi and Hong (2016) introduced the first iteration of BALLU to verify the concept of buoyancy assisted legged robot, but it was limited to teleoperation using radio control signals. In this paper, the next iteration, BALLU2, which is the first implementation that can walk by algorithms, is presented with details on its design and controller. The contributions of this work are as follows: The first set of simulations make changes in mass properties. With heavier feet or pelvis, the body would be easier to sink down. First, the pelvis mass is increased by 6.4% (from 31.2 to 33.2 g), and secondly, the feet masses are increased by 16.5% (from 24.2 to 28.2 g), respectively. The second set of modifications is the change in commanded velocity, and two simulations are conducted in a slower velocity and a higher velocity. 5.2 Hardware Verification
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Wang, K., Ge, Y. & Jin, X. A micro soft robot using inner air transferring for colonoscopy. In 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1556–1561, https://doi.org/10.1109/ROBIO.2013.6739688 (2013). Franchetti, M. & Kress, C. An economic analysis comparing the cost feasibility of replacing injection molding processes with emerging additive manufacturing techniques. The International Journal of Advanced Manufacturing Technology 88, 2573–2579, https://doi.org/10.1007/s00170-016-8968-7 (2017). People use air balloon robots for advertising, surveillance, and research. As per a report by Zion Market Research, the global air balloon robots market is expected to reach Multimillion USD by 2028. Futuristic uses of air balloon robots include using them as flying cell towers and delivering food and other supplies to disaster areas.
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The first noticeable behavior that is important for successful walking is the ability to regulate the body’s height within an interval that BALLU can successfully conduct subsequent motions. In the simulation, we can see that the body height is maintained between 0.58 ∼ 0.70. In the case that such an interval is not preserved, BALLU will exhibit the aforementioned sink-down behavior, leading to an inability to continue walking. Aside from the Z height oscillating within an interval, we can also notice that BALLU does indeed stride forward in the X-direction and its velocity trajectory shows a gradual increase from rest. Manfredi, L., Yue, L. & Cuschieri, A. A 3 DOFs mini variable stiffness soft pneumatic actuator. In Proc. ACTUATOR 2018; 16th Int. Conf. New Actuators, 1–4 (2018).The hyperparameters are chosen via grid search to have the least test loss. The list of searched hyperparameters and their candidates are the number of hidden layers h l ∈ 2 0 , 2 1 , ⋯ , 2 7, hidden units h u ∈ 1,2,3,4, and the learning rate α ∈ 0.0001 , 0.0002 , 0.0005 , 0.001 , ⋯ 0.05 , 0.01. As a result, a network with three hidden layers with eight hidden units, respectively, and a learning rate of 0.002 were used. Kajita S, Cisneros R, Benallegue M, Sakaguchi T (2016) Impact acceleration of falling humanoid robot with an airbag. IEEE-RAS Int Conf Humanoid Robots 30:637–643 Based on an analysis of BALLU’s motion, we proposed the first data-driven walking algorithm for BALLU. The proposed approach is comprised of the following two components: In practice, as injecting the same amount of helium every time to keep the body afloat is difficult, a generous amount of helium is initially injected, and counterweights are attached to the body to adjust the net upward force. This is done by calibrating the robot’s normal weight on a scale, which is empirically chosen to be 55 gf in the presented version of BALLU. Such a choice allows the robot to stay vertically upright when in a double support phase, but sink when in a single support phase, which will be important in the subsequent locomotion approach. 2.1.2 Pelvis Link
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BALLU is a robot that never falls down. It is a fact that BALLU, by design, cannot damage its surrounding environment or itself, unlike other heavier robots. However, interestingly, BALLU has its own counterpart to a conventional biped’s “fall” state, which is called “sink down” state. In this state, the robot has sunk down as shown in Figure 3A. BALLU’s body is slightly heavier than the net buoyancy that the balloons can exert. Hence, without any control, it sinks down until reaching equilibrium between the buoyancy, the GRFs, and the straightening force from the compressed knee joints. In this state, it is difficult to conduct any meaningful motion. In the sink down state, the knee joints are close to the joint limits and it is hard to make the leg swing without dragging its foot, despite most of the body parts still floating. Therefore, it is necessary for BALLU to manage its state with properly coordinated walking motions and avoid sinking down. 3.1.1 Underactuation Gliders are a type of flying robot that does not have any motors or engines. Instead, gliders rely on the wind or other forms of propulsion, such as being launched from a catapult, to stay in the air. Gliders are typically used for leisure and sporting activities, but can also be used for military applications, such as surveillance.
References
Rigid-wing glider: A rigid-wing glider is a glider with wings that are rigidly attached to the main body of the glider. Rigid-wing gliders are the most common type of glider and are typically used for leisure and sporting activities. Autonomous basically means something that is self-governing, while automatic refers to something that happens without conscious thought or effort. In other words, autonomous things are under their own control, while automatic things happen automatically.
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