Highly mobile and robust small quadruped robots
Highly mobile and robust small quadruped robots
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DOI：
10.1109/iros.2003.1250609
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发表时间：
2003-12
期刊：
影响因子：
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通讯作者：
Jeremy M. Morrey;Bram Lambrecht;A. Horchler;R. Ritzmann;R. Quinn
中科院分区：
文献类型：
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作者：
Jeremy M. Morrey;Bram Lambrecht;A. Horchler;R. Ritzmann;R. Quinn
本文介绍了一种新型的高度移动的小型机器人，称为“迷你轮子”，可以运行和跳跃。它们是从我们更大的whegs系列机器人中衍生出来的，这些机器人受益于抽象的蟑螂运动原理。他们成功的关键是三个辐条的附属物，称为“轮”，它结合了联合收割机的速度和简单的车轮与攀登的灵活性腿。为了更紧凑，比较大的车轮车辆，迷你车轮使用四个车轮在交替对角步态。这些9厘米长的机器人可以以每秒超过10个身体长度的持续速度运行，并爬上比腿长更高的障碍物。他们可以向前和向后跑，在任何一边。它们坚固的结构使它们能够从楼梯上摔下来而不会受到损坏，并携带相当于其重量两倍的有效载荷。一个跳跃机制也已经开发出来，使迷你车轮克服更大的障碍，如楼梯台阶。
This paper describes novel highly mobile small robots called "mini-whegs" that can run and jump. They are derived from our larger whegs series of robots, which benefit from abstracted cockroach locomotion principles. Key to their success are the three spoked appendages, called "whegs", which combine the speed and simplicity of wheels with the climbing mobility of legs. To be more compact than the larger whegs vehicles, mini-whegs uses four whegs in an alternating diagonal gait. These 9 cm long robots can run at sustained speeds of over 10 body lengths per second and climb obstacles that are taller than their leg length. They can run forward and backward, on either side. Their robust construction allows them to tumble down a flight of stairs with no damage and carry a payload equal to twice their weight. A jumping mechanism has also been developed that enables mini-whegs to surmount much larger obstacles, such as stair steps.