Robust Multilegged Walking Robots for Interactions With Different Terrains
Robust Multilegged Walking Robots for Interactions With Different Terrains
复制标题
坚固的多足行走机器人，可与不同地形进行交互
DOI：
10.1115/1.4062303
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发表时间：
2024
期刊：
影响因子：
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通讯作者：
Kunzmann, Dylan
中科院分区：
文献类型：
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作者：
Robson, Nina;Audrey, Vanessa;Dwivedi, Ashutosh;Kunzmann, Dylan
本文探讨了运动学的综合，设计和试点实验测试的六足步行机器人平台能够穿越不同的地形。我们的目标是开发一种结构化的方法来设计的肢体形态，使用一个轻松的运动学任务与合并条件的脚环境的相互作用，特别是接触力的方向和曲率的约束，保持接触。该设计方法逐步建立，从研究基本的人腿行走轨迹开始，然后定义一个“放松”的运动学任务。“放松”运动学任务仅由两个接触位置（脚趾离地和脚跟着地）组成，具有与两个接触附近的脚-地面接触和曲率约束兼容的高阶运动任务规范。作为下一步，一个八杆腿图像创建的基础上“放松”的运动任务，并纳入六条腿的步行机器人。试点实验测试探讨了所提出的方法是否会导致适应性行为，该行为允许平台将不同的步行脚轨迹和步态风格与每个环境相结合。结果表明，提出的“放松”高阶运动任务结合腿的形态学特性和脚的材料允许平台在不同的地形稳定行走。在这里，我们要注意的是，与其他现有的步行平台相比，所提出的方法的主要优点之一是，所提出的机器人平台具有精心设计的肢体形态，并结合了脚与环境相互作用的条件。此外，虽然大多数现有的多腿平台每个腿或每个关节包含一个致动器，但我们的目标是探索使用单个致动器来驱动平台的所有六个腿的可能性。这是关键的一步，为未来变革性技术的发展打开了大门，这种技术在很大程度上不受人类控制，并能够通过自己的感官系统了解环境。
This paper explores the kinematic synthesis, design, and pilot experimental testing of a six-legged walking robotic platform able to traverse through different terrains. We aim to develop a structured approach to designing the limb morphology using a relaxed kinematic task with incorporated conditions on foot-environments interaction, specifically contact force direction and curvature constraints, related to maintaining contact. The design approach builds up incrementally starting with studying the basic human leg walking trajectory and then defining a “relaxed” kinematic task. The “relaxed” kinematic task consists only of two contact locations (toe-off and heel-strike) with higher-order motion task specifications compatible with foot-terrain(s) contact and curvature constraints in the vicinity of the two contacts. As the next step, an eight-bar leg image is created based on the “relaxed” kinematic task and incorporated within a six-legged walking robot. Pilot experimental tests explore if the proposed approach results in an adaptable behavior which allows the platform to incorporate different walking foot trajectories and gait styles coupled to each environment. The results suggest that the proposed “relaxed” higher-order motion task combined with the leg morphological properties and feet material allowed the platform to walk stably on the different terrains. Here we would like to note that one of the main advantages of the proposed method in comparison with other existing walking platforms is that the proposed robotic platform has carefully designed limb morphology with incorporated conditions on foot-environment interaction. Additionally, while most of the existing multilegged platforms incorporate one actuator per leg, or per joint, our goal is to explore the possibility of using a single actuator to drive all six legs of the platform. This is a critical step which opens the door for the development of future transformative technology that is largely independent of human control and able to learn about the environment through their own sensory systems.