Robotics in scansorial environments
Robotics in scansorial environments
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DOI：
10.1117/12.606157
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发表时间：
2005-05
期刊：
影响因子：
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通讯作者：
Kellar Autumn;M. Buehler;M. Cutkosky;R. Fearing;R. Full;D. Goldman;R. Groff;W. Provancher;A. Riz
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文献类型：
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作者：
Kellar Autumn;M. Buehler;M. Cutkosky;R. Fearing;R. Full;D. Goldman;R. Groff;W. Provancher;A. Riz
我们回顾了一项多学科的大型努力，以开发一系列自主机器人，能够在自然和人工垂直地形(如墙壁、悬崖、洞穴、树木和瓦砾)及其周围进行快速、灵活的机动。我们的机器人设计灵感来自(但不是直接复制)生物爬行动物，如蟑螂、壁虎和松鼠。我们正在将先进的材料(例如合成壁虎毛)融入到这些设计中，并使用最先进的快速成型技术(例如形状沉积制造)来制造它们，这种技术允许通过有效的集成路径进行多次设计和测试，从而实现新材料和组件的有效集成。我们正在开发新的运动控制技术，以支持灵活的攀登行为，这些行为受到动物神经行为学研究的启发，是从早期框架发展而来的，这些框架已被证明在分析上是易处理的，在经验上是可靠的。我们的近期行为目标要求在柔软(如树皮)或粗糙的表面上垂直攀登，并在平坦、坚硬的陡坡上以每秒一身长的速度攀登。
We review a large multidisciplinary effort to develop a family of autonomous robots capable of rapid, agile maneuvers in and around natural and artificial vertical terrains such as walls, cliffs, caves, trees and rubble. Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels. We are incorporating advanced materials (e.g., synthetic gecko hairs) into these designs and fabricating them using state of the art rapid prototyping techniques (e.g., shape deposition manufacturing) that permit multiple iterations of design and testing with an effective integration path for the novel materials and components. We are developing novel motion control techniques to support dexterous climbing behaviors that are inspired by neuroethological studies of animals and descended from earlier frameworks that have proven analytically tractable and empirically sound. Our near term behavioral targets call for vertical climbing on soft (e.g., bark) or rough surfaces and for ascents on smooth, hard steep inclines (e.g., 60 degree slopes on metal or glass sheets) at one body length per second.