Pinbot: A Walking Robot with Locking Pin Arrays for Passive Adaptability to Rough Terrains
Pinbot: A Walking Robot with Locking Pin Arrays for Passive Adaptability to Rough Terrains
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DOI：
10.1109/icra40945.2020.9197342
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发表时间：
2020-05
期刊：
影响因子：
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通讯作者：
Seonghoon Noh;A. Dollar
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文献类型：
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作者：
Seonghoon Noh;A. Dollar
到目前为止，已经提出了许多用于腿部机器人的控制策略，以在崎岖和非结构化的地形上实现稳定的运动。然而，这些方法需要在整个移动过程中感知信息，这可能会有噪音或有时不可用。另一种解决崎岖地形移动的方案是设计一种腿部机器人，它可以被动地适应地形的变化，而不需要了解它们。本文提出了一种采用针阵机构被动适应崎岖地形的步行机器人的设计方案。引脚被动地落在地形上以适应其变化，然后锁定以提供静态稳定的站姿。运动是通过以交替方式向前摆动平台的平行四杆机构来实现的。对机器人的实验评估表明，该引脚阵列能够在开环控制下在崎岖的地形上进行腿部运动。
To date, many control strategies for legged robots have been proposed for stable locomotion over rough and unstructured terrains. However, these approaches require sensing information throughout locomotion, which may be noisy or unavailable at times. An alternative solution to rough terrain locomotion is a legged robot design that can passively adapt to the variations in the terrain without requiring knowledge of them. This paper presents one such solution in the design of a walking robot that employs pin array mechanisms to passively adapt to rough terrains. The pins are passively dropped over the terrain to conform to its variations and then locked to provide a statically stable stance. Locomotion is achieved with parallel four-bar linkages that swing forward the platforms in an alternating manner. Experimental evaluation of the robot demonstrates that the pin arrays enable legged locomotion over rough terrains under open-loop control.