Stable Stair Climbing in a Simple Hexapod Robot
Stable Stair Climbing in a Simple Hexapod Robot
复制标题
简单六足机器人的稳定爬楼梯
DOI：
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
M. Buehler
中科院分区：
文献类型：
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作者：
Edward Z Moore;M. Buehler
翻译后摘要：RHex是一个六足机器人与兼容的腿，只有六个驱动的自由度。它穿越高度断裂和不稳定地形的能力已经被记录在案。在本文中，我们描述了开环控制器，我们的小机器人爬楼梯和下降规则。10次连续试验的可靠性为90%（9/10）的上升和100%（10/10）的下降。爬楼梯时的比阻是10.9，下降时是4.5。
Abstract : RHex is a hexapod robot with compliant legs and only six actuated degrees of freedom. Its ability to traverse highly fractured and unstable terrain has already been documented. In this paper, we describe open loop controllers for our small robot to climb and descend regular stairs. The reliability is 90% (9/10) for climbing and 100% (10/10) for descending, based on ten successive trials. Specific resistance, a measure of energy efficiency, during stair climbing is 10.9, and 4.5 during descent.