加入蠕动波显著提升多足机器人越障能力。
Addition of a peristaltic wave improves multi-legged locomotion performance on complex terrains
- 在垂直方向引入蠕动波，配合原有侧向波实现双波协同运动。
- 在起伏地形上，可攀爬与自身体高相当的障碍物，通行效率大幅提升。
- 适合需全地形移动的搜救、巡检类机器人研究者参考。
多足机器人因其细长体形和相对简单的腿部结构，具备在复杂地形中移动的潜力，适用于搜救和地形勘察等任务。以往研究通过传播侧向躯干波动和步态波动两种波形，构建了有效的运动模板，但该方法在面对与机器人高度相近的障碍物时表现受限。本文假设此限制源于所用的双波运动模板。为探索更优的越障波形，设计了一种五段式机器人，其腿部为静态（非驱动）结构，每个电缆驱动关节具有矢状面内的旋转自由度（垂直波）和线性自由度（蠕动波）。在平坦地形和粗糙地形上测试其运动性能。结果显示，蠕动波对平坦地面运动帮助有限，但在粗糙地形中显著提升性能：不仅实现了与自身体高相当的障碍物攀爬能力，还大幅增强了在复杂地形中的通行能力。结果表明，蠕动波是一种有效的替代驱动机制，为实现全地形多足机器人铺平道路。
原文摘要 · Abstract (English)
Characterized by their elongate bodies and relatively simple legs, multi-legged robots have the potential to locomote through complex terrains for applications such as search-and-rescue and terrain inspection. Prior work has developed effective and reliable locomotion strategies for multi-legged robots by propagating the two waves of lateral body undulation and leg stepping, which we will refer to as the two-wave template. However, these robots have limited capability to climb over obstacles with sizes comparable to their heights. We hypothesize that such limitations stem from the two-wave template that we used to prescribe the multi-legged locomotion. Seeking effective alternative waves for obstacle-climbing, we designed a five-segment robot with static (non-actuated) legs, where each cable-driven joint has a rotational degree-of-freedom (DoF) in the sagittal plane (vertical wave) and a linear DoF (peristaltic wave). We tested robot locomotion performance on a flat terrain and a rugose terrain. While the benefit of peristalsis on flat-ground locomotion is marginal, the inclusion of a peristaltic wave substantially improves the locomotion performance in rugose terrains: it not only enables obstacle-climbing capabilities with obstacles having a similar height as the robot, but it also significantly improves the traversing capabilities of the robot in such terrains. Our results demonstrate an alternative actuation mechanism for multi-legged robots, paving the way towards all-terrain multi-legged robots.
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