Directionally Compliant Legs Enabling Crevasse Traversal in Small Ground‐Based Robots
Directionally Compliant Legs Enabling Crevasse Traversal in Small Ground‐Based Robots
复制标题
方向顺应腿可实现小型地面机器人的裂缝穿越
DOI：
10.1002/aisy.202200258
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发表时间：
2023
影响因子：
7.4
通讯作者：
Gravish, Nick
中科院分区：
文献类型：
--
作者：
Lathrop, Emily;Tolley, Michael T.;Gravish, Nick
小型地面机器人有望在复杂表面上运动。这种机器人的一个关键应用领域是在复杂地形和狭窄空间（如碎石中的狭窄间隙）内移动。为了应对这种地形复杂性，机器人通常需要高自由度（DOF）的肢体。然而，对于小型机器人平台，由于致动器的限制，这种高自由度腿的方法是不切实际的。这提供了一个机会，设计机器人的形态，使外包的计算任务的机器人身体通过使用顺应性元素（形态计算）。在此，开发了一种新型的机器人附件，可以被动地压缩在一个编程的方向，以响应环境收缩。配备这些附件的机器人可以进入狭窄的空间，其宽度为机器人身体伸展宽度的72%，以及低天花板，其独立高度的68%。该机器人能够踏上和越过小地形特征（臀部高度），并轻松地导航各种自然地形类型。结果表明，这些可压缩的附件，使多才多艺的机器人运动的机器人探索在以前未映射的环境。
Small ground‐based robots show promise for locomotion on complex surfaces. A critical application area for such robots is movement over complex terrain and within constricted space such as narrow gaps in rubble. To contend with this terrain complexity, robots typically require high degree‐of‐freedom (DOF) limbs. However, for small robot platforms, this approach of high DOF legs is impractical due to actuator limitations. This presents an opportunity to design robots whose morphology enables the outsourcing of computational tasks to the robot body through the use of compliant elements (morphological computation). Herein, a novel robot appendage is developed that can passively compress in a programmed direction in response to environmental constrictions. A robot equipped with these appendages can enter narrow spaces down to 72% of the robot's sprawled body width as well as low ceilings down to 68% its freestanding height. The robot is able to step onto and over small terrain features (hip height) and navigate various natural terrain types with ease. The results show that these compressible appendages enable versatile robot locomotion for robot exploration in previously unmapped environments.
机器人腿的各向异性顺应性提高了从摆动阶段碰撞中的恢复
影响因子：
3.4
作者：
Henry Chang;Justin Chang;G. Clifton;N. Gravish
通讯作者：
N. Gravish
影响因子：
3.4
作者：
Astley, Henry C.;Rieser, Jennifer M.;Goldman, Daniel, I
通讯作者：
Goldman, Daniel, I
影响因子：
25
作者：
Ozkan-Aydin, Yasemin;Goldman, Daniel, I
通讯作者：
Goldman, Daniel, I