Self-reconfigurable multilegged robot swarms collectively accomplish challenging terradynamic tasks
Self-reconfigurable multilegged robot swarms collectively accomplish challenging terradynamic tasks
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DOI：
10.1126/scirobotics.abf1628
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发表时间：
2021-07-28
期刊：
影响因子：
25
通讯作者：
Goldman, Daniel, I
中科院分区：
文献类型：
--
作者：
Ozkan-Aydin, Yasemin;Goldman, Daniel, I
成群的地面机器人目前仅限于相对简单的环境，我们认为部分原因是缺乏穿越复杂地形所需的运动能力。为了推进该领域的terradynamically能够群集机器人，多腿生物的能力的启发，我们假设，腿机器人组成的可逆chainable模块化单元与适当的被动扰动管理机制，可以执行不同的任务，在可变的地形，而无需复杂的控制和传感。在这里，我们报告了一个可重新配置的群相同的低成本四足机器人（具有方向灵活的腿和尾巴），可以按需连接和自主。当任务变得对个体单独执行具有地形动力学挑战性时，个体遭受性能下降。一个系统的研究性能的链接单元导致新发现的紧急障碍物导航能力的多足机器人。我们还展示了群的能力，通过多机器人对象运输。总之，我们认为，通过相对简单的单元的明智的相互作用，可以实现改进能力的地面成群的机器人。
Swarms of ground-based robots are presently limited to relatively simple environments, which we attribute in part to the lack of locomotor capabilities needed to traverse complex terrain. To advance the field of terradynamically capable swarming robotics, inspired by the capabilities of multilegged organisms, we hypothesize that legged robots consisting of reversibly chainable modular units with appropriate passive perturbation management mechanisms can perform diverse tasks in variable terrain without complex control and sensing. Here, we report a reconfigurable swarm of identical low-cost quadruped robots (with directionally flexible legs and tail) that can be linked on demand and autonomously. When tasks become terradynamically challenging for individuals to perform alone, the individuals suffer performance degradation. A systematic study of performance of linked units leads to new discoveries of the emergent obstacle navigation capabilities of multilegged robots. We also demonstrate the swarm capabilities through multirobot object transport. In summary, we argue that improvement capabilities of terrestrial swarms of robots can be achieved via the judicious interaction of relatively simple units.