Evaluation of Hopping Robot Performance With Novel Foot Pad Design on Natural Terrain for Hopper Development
Evaluation of Hopping Robot Performance With Novel Foot Pad Design on Natural Terrain for Hopper Development
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DOI：
10.1109/lra.2019.2926222
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发表时间：
2019-07
影响因子：
5.2
通讯作者：
Kosuke Sakamoto;M. Otsuki;T. Maeda;K. Yoshikawa;T. Kubota
中科院分区：
文献类型：
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作者：
Kosuke Sakamoto;M. Otsuki;T. Maeda;K. Yoshikawa;T. Kubota
这封信介绍了三种类型的地形和新的脚垫设计，有效的跨越跳跃漫游车跳跃性能的评估。跳跃式漫游车，称为霍珀，预计将探索科学丰富的地区，轮式车辆难以穿越。为了成功地进行机器人行星探测，优化和有效的设计是必不可少的。几乎所有的行星表面都覆盖着沙子，称为风化层，这使得跳跃效率很差。在这封信中，我们发现了三种地形上的跳跃性能。此外，还提出了提高软土地基上跳车性能的方法。受传统轮式车辆设计的启发，踏板（称为履带）安装在脚垫底部。虽然抓地机在硬地面和软土上都很有效，但在双层地形上却无效。双层是指坚硬的地面上覆盖着薄的风化层。基于土壤相互作用模型，采用多目标进化算法设计了新型履带板形状。与直齿相比，所提出的设计提高了软土上的跳跃性能。
This letter presents the hopping performance evaluation on three types of terrains and novel foot pad designs for efficient traverse of hopping rovers. Hopping rovers, called Hopper, are expected to explore scientific richness areas where wheeled vehicles are hard to traverse. In order to succeed in the robotic planetary exploration, optimization and efficient designs of rovers are essential. Almost all planetary surfaces are covered with sand, called regolith, which makes hopping efficiency bad. In this letter, we discover the hopping performance on three kinds of terrains. Moreover, we also propose the method of increasing hopping performance on soft soil. Inspired by the conventional wheeled vehicle design, treads, called grouser, are installed on the bottom of the foot pad. While grousers are effective on hard ground and soft soil, they are ineffective on bilayer terrain. Bilayer means that hard ground is covered with thin regolith. And the other novel grouser shape is designed based on the soil interaction model using a multi-objective evolutionary algorithm. The proposed design improves the hopping performance on soft soil in comparison with the straight grouser.