Dynamic traversal of large gaps by insects and legged robots reveals a template
Dynamic traversal of large gaps by insects and legged robots reveals a template
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DOI：
10.1088/1748-3190/aaa2cd
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发表时间：
2018-03-01
影响因子：
3.4
通讯作者：
Li, Chen
中科院分区：
文献类型：
--
作者：
Gart, Sean W.;Yan, Changxin;Li, Chen
众所周知，动物可以利用神经和感官反馈，通过视觉、触觉和回声定位来穿越障碍。同样，大多数机器人使用刻意或反应性的规划来避开障碍物，这依赖于先前的知识或对环境的高保真感知。然而，在复杂、新颖的三维地形(如森林地面和建筑瓦砾)中的动态运动中，传感和规划受到带宽限制和大噪声的限制，有时甚至是不可能的。在这里，我们研究了跨越大缺口的快速移动--一种简单、无处不在的障碍物--以开始发现动态穿越大型3D障碍物的一般原理。我们挑战了盘状蟑螂和一个开环六足机器人，让他们穿越一个不同长度的大间隙。动物和机器人都可以通过用头部桥接间隙来动态穿越一个身体长度的间隙，但穿越概率随着间隙长度的增加而减小。基于这些观察，我们开发了一种模板，可以准确地捕捉身体动力学并定量预测穿越性能。我们的模板显示了较高的接近速度、初始身体俯仰和初始身体俯仰角速度促进了动态穿越，并成功地预测了一种新的使用身体俯仰控制的策略，将机器人的最大穿越间隙长度增加了50%。我们的研究建立了第一个平面外动态运动模板，是将地形动力学扩展到复杂三维地形的重要一步。
It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior knowledge or high-fidelity sensing of the environment. However, during dynamic locomotion in complex, novel, 3D terrains, such as a forest floor and building rubble, sensing and planning suffer bandwidth limitation and large noise and are sometimes even impossible. Here, we study rapid locomotion over a large gap-a simple, ubiquitous obstacleto begin to discover the general principles of the dynamic traversal of large 3D obstacles. We challenged the discoid cockroach and an open-loop six-legged robot to traverse a large gap of varying length. Both the animal and the robot could dynamically traverse a gap as large as one body length by bridging the gap with its head, but traversal probability decreased with gap length. Based on these observations, we developed a template that accurately captured body dynamics and quantitatively predicted traversal performance. Our template revealed that a high approach speed, initial body pitch, and initial body pitch angular velocity facilitated dynamic traversal, and successfully predicted a new strategy for using body pitch control that increased the robot's maximal traversal gap length by 50%. Our study established the first template of dynamic locomotion beyond planar surfaces, and is an important step in expanding terradynamics into complex 3D terrains.