Toward Autonomy in Sub-Gram Terrestrial Robots
Toward Autonomy in Sub-Gram Terrestrial Robots
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DOI：
10.1146/annurev-control-053018-023814
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发表时间：
2019-01-01
期刊：
影响因子：
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通讯作者：
Bergbreiter, Sarah
中科院分区：
文献类型：
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作者：
St Pierre, Ryan;Bergbreiter, Sarah
对小型、自主和移动机器人的研究受到我们周围所见昆虫以及众多应用的启发，这些应用涵盖从喷气发动机和民用基础设施的检查到医疗程序等领域。当将现有的小型机器人与其生物对应物进行比较时，自主操作能力形成了鲜明的对比。这篇综述描述了亚克级机器人技术的现状，以及在这些小尺寸下在动力、移动性和控制方面朝着自主性发展的进展。文中描述了一些指标，既用于量化现有亚克级机器人的性能（例如，速度和运输成本），也用于定义一条更量化的实现自主的路径（例如，单位质量运行时间和穿越概率）。还将现有机器人的这些指标与昆虫的指标进行了比较，以确定显著的性能差距，并突出未来研究的重要领域。
Research toward small, autonomous, and mobile robots is inspired by both the insects we see around us and numerous applications, from inspection of jet engines and civil infrastructure to medical procedures. When comparing existing robots at small scales with their biological counterparts, the capability for autonomous operation is a glaring contrast. This review describes the state of the art in robotics at sub-gram scales along with the progress toward autonomy in power, mobility, and control at these small sizes. Metrics are described to both quantify the performance of existing sub-gram robots (e.g., speed and cost of transport) and define a more quantitative path toward autonomy (e.g., mass-specific run time and traversal probability). These metrics from existing robots are also compared with those of insects to identify significant performance gaps and highlight important areas for future study.