Pacific lamprey inspired climbing
Pacific lamprey inspired climbing
复制标题
太平洋七鳃鳗启发攀岩
DOI：
10.1088/1748-3190/acd671
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发表时间：
2023
影响因子：
3.4
通讯作者：
Clark, Jonathan E.
中科院分区：
文献类型：
--
作者：
Van Stratum, Brian;Shoele, Kourosh;Clark, Jonathan E.
蛇和它们的生物启发机器人同行已经证明了运动在广泛的地形。然而，动态垂直攀爬是一种运动策略，在现有的蛇机器人文献中很少受到关注。我们展示了一种新的扫描步态和机器人的运动的太平洋七鳃鳗的启发。这种新的步态允许机器人在平坦、近乎垂直的表面上攀爬时转向。一个降阶模型的开发和用于探索身体驱动和垂直和横向运动的机器人之间的关系。三叉戟，新的爬墙七鳃鳗启发机器人，演示动态攀登上一个单位接近垂直地毯墙与峰值净垂直步幅位移为4.1厘米每一步。在1.3 Hz的驱动下，Trident在比电阻为8.3时的垂直爬升速度为4.8 cm s-1（0.09 Bl s-1）。三叉戟也能以9 cm s− 1（0.17 Bl s− 1）的速度横向移动。此外，三叉戟在垂直攀爬时的步幅比太平洋七鳃鳗长14%。计算和实验结果表明，七鳃鳗启发的攀登步态加上适当的附件是一个有用的爬行策略，蛇机器人攀登近垂直表面有限的推动点。
Snakes and their bio-inspired robot counterparts have demonstrated locomotion on a wide range of terrains. However, dynamic vertical climbing is one locomotion strategy that has received little attention in the existing snake robotics literature. We demonstrate a new scansorial gait and robot inspired by the locomotion of the Pacific lamprey. This new gait allows a robot to steer while climbing on flat, near-vertical surfaces. A reduced-order model is developed and used to explore the relationship between body actuation and the vertical and lateral motions of the robot. Trident, the new wall climbing lamprey-inspired robot, demonstrates dynamic climbing on a flat near vertical carpeted wall with a peak net vertical stride displacement of 4.1 cm per step. Actuating at 1.3 Hz, Trident attains a vertical climbing speed of 4.8 cm s− 1 (0.09 Bl s− 1) at specific resistance of 8.3. Trident can also traverse laterally at 9 cm s− 1 (0.17 Bl s− 1). Moreover, Trident is able to make 14% longer strides than the Pacific lamprey when climbing vertically. The computational and experimental results demonstrate that a lamprey-inspired climbing gait coupled with appropriate attachment is a useful climbing strategy for snake robots climbing near vertical surfaces with limited push points.
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