Robotic communication and sensing using structural vibration in natural waveguides.

摘要

Structure-borne vibration is a common mechanism exploited by animals, both for communication and for sensing the surrounding environment. However, little work has been done to apply this rich body of knowledge in the robotics space. In this thesis, structural vibration is proposed as a method of inter-robot communication and environmental sensing. One-dimensional branching structures such as cables, trusses, pipes, and tracks, as well as natural structures such as trees, are target environments for robots in this investigation. These waveguide-like structures are advantageous for vibration transmission, mitigating energy loss due to geometric spreading to potentially enable long range communication, and supporting various modes of vibration, including bending, torsional, and longitudinal vibrations. These environments are prominent in human construction and in nature, where robots could be tasked with inspection, material transportation, or surveillance. In this work, a structural vibration-transducing mobile robotic platform was developed for operation on a sample waveguide structure. Careful analytical modeling of the structural dynamics and electromechanical interaction between the robot platform and waveguide structure was conducted. Techniques for transmission of commands and distance measurement between robot agents were designed. Finally, experimental verification of the model and proof-of-concept communication and sensing techniques are presented.