The kinematic design of the OmniPede: a new approach to obstacle traversion
The kinematic design of the OmniPede: a new approach to obstacle traversion
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OmniPede 的运动学设计：穿越障碍的新方法
DOI：
10.1109/robot.2002.1013442
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
J. Borenstein
中科院分区：
文献类型：
--
作者：
Geoffrey Long;Jay Anderson;J. Borenstein
介绍了一种能够穿越极其崎岖的地形的车辆的运动学设计，例如倒塌建筑的瓦砾。密歇根大学移动机器人实验室正在研发这款名为“OmniPede”的汽车。OmniPede最重要的创新是它的运动学设计：OmniPede可以被认为是一种细长的、圆形的、灵活的身体，它的船体(皮肤)上到处都是大量的小手或小脚。理想情况下，无论有多少只手与环境中的任何特征接触，无论有多少只手与哪只手接触，这些手都会执行协调的铲动动作，无论手在哪里接触，都能向前推进。
Introduces the kinematic design of a vehicle capable of traversing extremely rugged terrain, such as the rubble of a collapsed building. The vehicle, called "OmniPede," is being developed at the University of Michigan's Mobile Robotics Laboratory. The foremost innovation in the OmniPede is its kinematic design: the OmniPede can be thought of as an elongated, round, flexible body that has a large number of small "hands" or "feet" all over its hull ("skin"). Ideally these hands all perform a coordinated shoveling motion that provides forward propulsion wherever a hand is in contact with any feature in the environment, regardless of how many of the hands make contact and which ones do.